基于神经网络的机器人壁障matlab

% yangwuqiang close all; figure; axis([0,60,0,60]);box off;hold on; set(gca,'xtick',[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,60,'ytick',[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,60); set(gcf,'Position',[463 218 400 500]); plot([0,15.5,15.5],[15.5,15.5,0],'k'); text(5,16,'墙壁'); text(15.3,7,'墙'); text(15.3,9,'壁'); rectangle('Position',[1.3,5,1.3,5],'FaceColor','M'); rectangle('Position',[4,1.3,7,2],'FaceColor','G','Curvature',[1,1]); x1=5+cos(linspace(pi/2,pi*1.5,100));y1=2.3+sin(linspace(pi/2,pi*1.5,100)); % From 萝卜驿站: http://luobo.yculblog.com/ % email: [email protected] x2=10+cos(linspace(-pi/2,pi/2,100));y2=2.3+sin(linspace(-pi/2,pi/2,100)); fill([x1,x2],[y1,y2],'G'); F=fill(6+2*cos(linspace(0,pi*2,100)),7+2*sin(linspace(0,pi*2,100)),'Y'); rectangle('Position',[6,12,6,1.5],'FaceColor','B'); F1=fill([11,14,14.8,10.2],[4,4,7.5,7.5],'w'); set(F1,'FaceColor',[1,0.3,0.3]); x=2;y=0; z=x+y*i; A=[pi/2,1.1,0.6,0.3,0.2,0.4,0.9,1.6,1.7,1.5,... 0.5,0,-0.4,-1.4,-2.7,-3,-3.6,-3.6,-3.5,... -3.6,-4,-2,-1.5,-1.7,-1.8,-1.5]; for k=1:length(A); z1=z+1.5*exp(i*A(k)); za=z1-1.2*exp(i*A(k))+0.3*exp(i*[A(k)-pi/2]); zb=z1-1.2*exp(i*A(k))+0.3*exp(i*[A(k)+pi/2]); fill(real([za,z1,zb]),imag([za,z1,zb]),'k'); real([za,z1,zb]) plot([z,z1],'k'); z=z1; end