【路径规划】基于matlab HybridAStar算法停车场停车路径规划【含Matlab源码 2458期】.zip

clear; load parkingLotCostVal.mat % costVal width = 2; height = 4; vehicleDims = vehicleDimensions(2*height,2*width); distFromSide = 0.175; centerPlacements = [distFromSide 0.5 1-distFromSide]; inflationRadius = 1.2; ccConfig = inflationCollisionChecker(vehicleDims,'CenterPlacements',centerPlacements,'InflationRadius',inflationRadius); ccConfig.InflationRadius = 1.3; map = vehicleCostmap(costVal); map.CollisionChecker = ccConfig; map.FreeThreshold = 0.5; map.OccupiedThreshold = 0.9; validator = validatorVehicleCostmap(stateSpaceSE2); validator.Map = map; planner = plannerHybridAStar(validator,'MinTurningRadius',10,'MotionPrimitiveLength',6); startPose = [85 75 0]; % [meters, meters, radians] goalPose = [90 54 -pi/2]; refpath = plan(planner,startPose,goalPose); plot(map,'Inflation','off'); hold on for i = 1:refpath.NumStates h = draw(refpath.States(i,:),width,height); drawnow(); pause(0.1); if i <refpath.NumStates delete(h); end end