圆形标记法代码matlab-Multi-T-RRTstar:Multi-T-RRT*算法,用于通过自定义实用程序功能进行安全的UAS操作的路径

上传者: 38737751 | 上传时间: 2021-08-29 08:46:32 | 文件大小: 78KB | 文件类型: ZIP
圆形标记法代码matlab 多T-RRTstar-Matlab Multi-T-RRT *算法,用于通过自定义实用程序功能进行安全的UAS操作的路径规划 作者: Uluhan Cem Kaya 说明:该程序实现了基于过渡的最佳快速探索随机树(RRT *)的多树变体。 路径规划是在真实的2D地图场景中定义的,在该场景中,建筑足迹用于构建具有高斯分布的暴露于UAS影响(成本)风险的区域风险地图。 开发了一种基于效用的成本函数,用于测量路径质量,并用于生成源自指定起点和目标位置的前进和后退树枝。 算法一直运行到达到最大迭代次数为止,然后输出所有树的所有成功连接,并选择具有最高效用的最终路径。 特征: - Multiple Trees (1 Forward and multiple Backward Trees) - Heruistics: Goal Bias and Transition Test (rejection sampling) - Obstacle Avoidance (polygonal obstacles with circular avoid radii) - Utilit

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