You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
42 lines
1.4 KiB
42 lines
1.4 KiB
% Copyright (C) 1993-2013, by Peter I. Corke
|
|
%
|
|
% This file is part of The Robotics Toolbox for MATLAB (RTB).
|
|
%
|
|
% RTB is free software: you can redistribute it and/or modify
|
|
% it under the terms of the GNU Lesser General Public License as published by
|
|
% the Free Software Foundation, either version 3 of the License, or
|
|
% (at your option) any later version.
|
|
%
|
|
% RTB is distributed in the hope that it will be useful,
|
|
% but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
% GNU Lesser General Public License for more details.
|
|
%
|
|
% You should have received a copy of the GNU Leser General Public License
|
|
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
|
|
%
|
|
% http://www.petercorke.com
|
|
|
|
%%begin
|
|
|
|
% Our bug style robot will operate within a grid world that contains free
|
|
% space where it can drive and obstacles. We load a map of the world
|
|
load map1
|
|
% which loads a variable called map
|
|
about map
|
|
% and the cells contain zero if it is free space (driveable) and one if it is an
|
|
% obstacle.
|
|
|
|
% Now we create an instance of a robot with the bug navigation algorithm
|
|
bug = Bug2(map)
|
|
|
|
% and display its grid world
|
|
bug.plot()
|
|
% where obstacles are marked in red.
|
|
|
|
% Now we define the goal and start coordinates
|
|
bug.goal = [50,30];
|
|
start = [20, 10];
|
|
|
|
% then ask the robot to find the path, it will be animated with green dots
|
|
bug.path(start);
|