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53 lines
1.8 KiB
53 lines
1.8 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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% and the cells contain zero if it is free space (driveable) and one if it is an
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% obstacle.
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% Now we create an instance of a robot with the PRM navigation algorithm
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prm = PRM(map);
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% and because PRM is a probabilistic method we will reset the random number
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% generator to a known state
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randinit
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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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prm.plan();
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% The roadmap planner does not need to know, yet, the goal or start positions, it
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% chooses random points in the world and tries to find obstacle-free paths between
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% them (like railway lines or freeways)
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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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prm.plot();
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% Now we can execute the planned path, it will be animated with green dots
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prm.path(start, goal)
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