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60 lines
2.0 KiB
60 lines
2.0 KiB
% Copyright (C) 1993-2013, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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%%begin
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% Our robot will operate within a grid world that contains free
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% space where it can drive and obstacles. We load a map of the world
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load map1
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% which loads a variable called map
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about map
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% The elements of the obstacle map are converted into traversibility values, an
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% obstacle has an infinite traversibility while free space has a nominal
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% travesibility of 1.
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% Now we create an instance of a robot with the D* navigation algorithm
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dstar = Dstar(map, 'quiet');
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% Now we define the goal and start coordinates
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goal = [50,30];
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start = [20, 10];
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% then ask the robot to plan a path to goal (it will take few seconds)
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dstar.plan(goal);
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% Now we can display the obstacles and the cost to reach the goal from every
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% point in the world
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dstar.plot()
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% where the cost scale is shown by the bar to the right.
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% Now we can execute the planned path, it will be animated with green dots
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tic; dstar.path(start); toc
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% Now lets change the difficulty of some of the terrain, make it more costly
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% to travese
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for r=78:85; for c=12:45; dstar.modify_cost([c,r], 2); end; end
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% Now we can replan, but D* does this in an incremental way which is faster than
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% recomputing the whole plan from scratch
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tic; dstar.plan(); toc
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% that took less time than before...
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% and the best path is now
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dstar.path(start)
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