├── README.md ├── code ├── DFS.m ├── barrier_generate.m ├── compresstable2matrix.m ├── conjunction.m ├── graph_convert.m ├── netplot.m ├── random_display.m ├── result_display.m └── robot_sweeper.m ├── 扫地机器人路径规划.pdf └── 项目4：扫地机器人的路径规划策略.pdf /README.md: -------------------------------------------------------------------------------- 1 | # README 2 | 规划并模拟扫地机器人的清扫路径，并与随机游走的清扫方式做对比 3 | 4 | ## Requirements 5 | 6 | test on 7 | 8 | - MATLAB R2018a 9 | 10 | ## Idea 11 | 12 | - 规定扫地机器人的尺寸为1×1的网格，地图尺寸为20×15（参数可修改），在利用矩阵Tag储存障碍物信息（障碍物标1，非障碍物标0），barrier_generate函数随即生成障碍物 13 | - 路径规划考虑采用深度优先搜索算法，根据标记矩阵Tag的信息，找到网格之间可达性关系，建立图的邻接压缩表，深度优先搜索求出路径（深度优先所搜算法是在别人的代码上进行修改） 14 | [深度优先搜索源码地址](https://www.cnblogs.com/tiandsp/archive/2013/07/05/3174262.html) 15 | - 可视化过程中首先建立起地图网格，利用网格着色体现扫地机器人的运动过程，白色表示未清扫过，黑色表示障碍物，蓝色表示清扫过一次，红色表示反复清扫过。 16 | - 随机游走采用向上下左右四个方向等可能地游走，可视化过程和路径规划的一样 17 | - 主函数返回的是路径规划和随机游走所花的总步数 18 | 19 | ## Usage 20 | 21 | run robot_sweeper.m 22 | 23 | ## Tips 24 | 25 | “项目4：扫地机器人的路径规划策略.pdf”为项目说明 26 | 27 | “扫地机器人路径规划.pdf”为实验报告，其中有对代码的说明 28 | 29 | -------------------------------------------------------------------------------- /code/DFS.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/DFS.m -------------------------------------------------------------------------------- /code/barrier_generate.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/barrier_generate.m -------------------------------------------------------------------------------- /code/compresstable2matrix.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/compresstable2matrix.m -------------------------------------------------------------------------------- /code/conjunction.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/conjunction.m -------------------------------------------------------------------------------- /code/graph_convert.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/graph_convert.m -------------------------------------------------------------------------------- /code/netplot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/netplot.m -------------------------------------------------------------------------------- /code/random_display.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/random_display.m -------------------------------------------------------------------------------- /code/result_display.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/result_display.m -------------------------------------------------------------------------------- /code/robot_sweeper.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/code/robot_sweeper.m -------------------------------------------------------------------------------- /扫地机器人路径规划.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/扫地机器人路径规划.pdf -------------------------------------------------------------------------------- /项目4：扫地机器人的路径规划策略.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoniiTro19/Robot-Sweeper-Path-Programming/e86c9cef7d3674ff96a1b47aea598eb9c175e8e6/项目4：扫地机器人的路径规划策略.pdf --------------------------------------------------------------------------------