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【路径规划】基于matlabGUI改进的DWA算法机器人动态避障路径规划【含Matlab源。。。

【路径规划】基于matlabGUI改进的DWA算法机器⼈动态避障路径规划【含

Matlab源。。。

⼀、DWA算法简介

DWA算法全称为dynamic window approach，其原理主要是在速度空间（v,w）中采样多组速度，并模拟这些速度在⼀定时间内的运动轨迹，再通过⼀个评价函数对这些轨迹打分，最优的速度被选择出来发送给下位机。

1 原理分析

2 速度采样

机器⼈的轨迹运动模型有了，根据速度就可以推算出轨迹。

因此只需采样很多速度，推算轨迹，然后评价这些轨迹好不好就⾏了。

（⼀）移动机器⼈受⾃⾝最⼤速度最⼩速度的限制

（⼆）移动机器⼈受电机性能的影响：由于电机⼒矩有限，存在最⼤的加減速限制，因此移动机器⼈軌迹前向模拟的周期sim_period内，存在⼀个动态窗⼝，在该窗⼝内的速度是机器⼈能够实际达到的速度:做文明有礼的北京人

（三）基于移动机器⼈安全的考虑：为了能够在碰到障碍物前停下来, 因此在最⼤减速度条件下, 速度有⼀个范围。

⼆、部分源代码

function varargout =Simulate(varargin)

clc

SamplingPeriod =0.1;

time =0;

timer1 =[];

txt_timer =[];

FuzzyLoaded =0;

Z1 =[];

Z2 =[];

W_Zone =20;

H_Zone =20;

data =importdata('fuzzytabledata.mat');

OUT1 = data.OUT1;

OUT2 = data.OUT2;

Z1 =reshape(OUT1(102:end,1)',101,[]);

Z2 =reshape(OUT2(102:end,1)',101,[]);

FuzzyLoaded =1;

scrsz =get(0,'ScreenSize');

% Create a figure that will have a uitable, axes and checkboxes

figure('Position',[15*scrsz(3)/10070scrsz(3)-2*(15*scrsz(3)/100)scrsz(4)-100],...

'WindowStyle','normal',...

'CloseRequestFcn',{@CloseFcn},...

'Name','具有动态障碍物的DWA仿真',...% Title figure

'NumberTitle','off')% Do not show figure number

%figure('Position',[15*scrsz(3)/10070scrsz(3)-2*(15*scrsz(3)/100)scrsz(4)-100],...

%'WindowStyle','normal',...

%'CloseRequestFcn',{@CloseFcn},...

%'Name','具有动态障碍物的DWA仿真',...% Title figure

%'NumberTitle','off',...% Do not show figure number

%'MenuBar','none');% Hide standard menu bar menus

妇炎康栓

% Create an axes set x and y limits to the value extremes, and format labels

halW_Zone =ceil(W_Zone/10)*10;

H_Zone =ceil(H_Zone/10)*10;

haxes =axes('Units','normalized',...

'Position',[.25.050.750.9],...

'XLim',[-W_Zone/2 W_Zone/2],...

'YLim',[-H_Zone/2 H_Zone/2],...

'XLimMode','manual',...

'YLimMode','manual',...

'XTick',-W_Zone/2:1:W_Zone/2,...

'YTick',-H_Zone/2:1:H_Zone/2);%,...

%'XTickLabel',...

%{'-10 m','-5 m','0','5 m','10 m'},...

%'YTickLabel',...

%{'-10 m','-5 m','0','5 m','10 m'});

set(haxes,'DataAspectRatio',[111]);

title(haxes,'移动机器⼈动态避障仿真')% Describe data set

% Prevent axes from clearing when new lines or markers are plotted

hold(haxes,'all')

grid on;

uicontrol('Style','pushbutton',...

'Units','normalized',...

'Position',[.02.86.2.05],...

'String','开始仿真',...

'Value',0,...

'Callback',{@StartSimulation});

uicontrol('Style','pushbutton',...

'Units','normalized',...

'Position',[.02.81.2.05],...

'String','重新仿真',...

'Value',0,...

'Callback',{@ResetSimulation});

%% Create a text to show timer;

txt_timer =uicontrol('Style','text',...

'Units','normalized',...

'Position',[.02.915.2.035],...

巴黎公社原则'FontWeight','bold',...

'ForegroundColor',[0.2.8],...

'fontname','Helvetica',...

'fontsize',14,...

'BackgroundColor','w','String','00:00 00');

%% Create some texts to monitor variables;

txt_inp1 =uicontrol('Style','text','Units','normalized','Position',[.05.54.08.035],...

'FontWeight','bold','ForegroundColor',[000],'fontname','Helvetica','fontsize',12,'BackgroundColor',[0.90.90.9]); txt_inp2 =uicontrol('Style','text','Units','normalized','Position',[.14.54.08.035],...

'FontWeight','bold','ForegroundColor',[000],'fontname','Helvetica','fontsize',12,'BackgroundColor',[0.90.90.9]); txt_out1 =uicontrol('Style','text','Units','normalized','Position',[.05.47.08.035],...

'FontWeight','bold','ForegroundColor',[000],'fontname','Helvetica','fontsize',12,'BackgroundColor',[0.90.90.9]);

txt_out2 =uicontrol('Style','text','Units','normalized','Position',[.14.47.08.035],...

'FontWeight','bold','ForegroundColor',[000],'fontname','Helvetica','fontsize',12,'BackgroundColor',[0.90.90.9]);

uicontrol('Style','text','Units','normalized','Position',[.05.61.15.025],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'String','DWA权值调整');

uicontrol('Style','text','Units','normalized','Position',[.00.55.05.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

'BackgroundColor',[0.80.80.8],'String','INPs :');

云颠簸

uicontrol('Style','text','Units','normalized','Position',[.00.48.05.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

评师网'BackgroundColor',[0.80.80.8],'String','误差值 :');

uicontrol('Style','text','Units','normalized','Position',[.05.58.08.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

'BackgroundColor',[0.80.80.8],'String','⽬标航向⾓');

uicontrol('Style','text','Units','normalized','Position',[.14.58.08.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

'BackgroundColor',[0.80.80.8],'String','障碍物');

uicontrol('Style','text','Units','normalized','Position',[.05.51.08.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

'BackgroundColor',[0.80.80.8],'String','左偏离');

uicontrol('Style','text','Units','normalized','Position',[.14.51.08.02],...

'FontWeight','bold','fontname','Helvetica','fontsize',9,...

'BackgroundColor',[0.80.80.8],'String','右偏离');

uicontrol('Style','text','Units','normalized','Position',[.09.78.12.025],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'String','X Y');

uicontrol('Style','text','Units','normalized','Position',[.02.74.06.03],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'String','起始点坐标：');

uicontrol('Style','text','Units','normalized','Position',[.02.7.06.03],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'String',' ⽬标点坐标：');

%% Create a text get Robot X0 Pos;

edit_robot_x0 =uicontrol('Style','edit',...

'Units','normalized',...

'Position',[.09.74.06.035],...%'String',...%'Use Plot check boxes to graph columns',...

'FontWeight','bold',...

'fontname','Helvetica',...

'fontsize',12);

%% Create a text get Robot Y0 Pos;

edit_robot_y0 =uicontrol('Style','edit',...

'Units','normalized',...

'Position',[.16.74.06.035],...%'String',...%'Use Plot check boxes to graph columns',...

'FontWeight','bold',...

'fontname','Helvetica',...

'fontsize',12);

%% Create a text get Goal X Pos;

edit_goal_x =uicontrol('Style','edit',...

'Units','normalized',...

'Position',[.09.7.06.035],...%'String',...%'Use Plot check boxes to graph columns',...

'FontWeight','bold',...

'fontname','Helvetica',...

'fontsize',12);

%% Create a text get Goal Y Pos;

edit_goal_y =uicontrol('Style','edit',...

'Units','normalized',...

'Position',[.16.7.06.035],...%'String',...%'Use Plot check boxes to graph columns',...

'FontWeight','bold',...

'fontname','Helvetica',...

'fontsize',12);

uicontrol('Style','pushbutton',...

'Units','normalized',...

'Position',[.09.655.13.04],...%'TooltipString','Update Values Independently',...

'String','更新',...

'Value',0,...

'Callback',{@UpdateParams});

slider_x =uicontrol('Style','slider','Units','normalized','Position',[.02.41.2.025],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'Min',0,'Value',1,'Max',2,'SliderStep',[0.010.1]);

slider_y =uicontrol('Style','slider','Units','normalized','Position',[.02.37.2.025],...

'FontWeight','bold','fontname','Helvetica','fontsize',10,...

'BackgroundColor',[0.80.80.8],'Min',0,'Value',1,'Max',2,'SliderStep',[0.010.1]);

%uicontrol('Style','pushbutton',...

%'Units','normalized',...

%'Position',[0.35.95.25.05],...%'TooltipString','Update Values Independently',... %'String','Save Data',...

%'Value',0,...

%'Callback',{@SaveData});

%% Create an invisible marker plot of the data and save handles

%% to the lineseries objects; use this to simulate data brushing.

%% hmkrs =plot([1:10],[1:10].^2,'LineStyle','none',...

%%'Marker','o',...

%%'MarkerFaceColor','y',...

%%'HandleVisibility','off',...

%%'Visible','on');

% Create three check boxes to toggle plots for columns

%uicontrol('Style','checkbox',...

%'Units','normalized',...

%'Position',[.10.96.09.035],...

%'TooltipString','Check to plot column 1',...

%'String','Col 1',...

%'Value',0,...

%'Callback',{@plot_callback,1});

%% Create a text label to say what the checkboxes do

%uicontrol('Style','text',...

%'Units','normalized',...

%'Position',[.025.955.06.035],...

%'String','Plot',...

%'FontWeight','bold');

% Subfuntions implementing the two callbacks

%------------------------------------------

% function plot_callback(hObject, eventdata, column)

%% hObject Handle to Plot menu

%% eventdata Not used

%% column Number of column to plot or clear

% colors ={'b','m','r'};% Use consistent color for lines

% colnames =get(htable,'ColumnName');

% colname = colnames{column};

%if get(hObject,'Value')

%% Turn off the advisory text; it never comes back

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