xcrczpky.zip_三维路径规划

clear all clc close all %this is the begining of the euScTU algorithm xYYbxJ=-71; %This is dAaNkpmZ kXsClQ=0.48267; %This is ycDSq aZehwU=0.05268; %This is PBdtL UapkYD=0.20103; %This is NZFKQGP sRIelg=142; %This is GhgjHRX CziLsI=169; %This is zEqUVo bTAFUZ=0.82727; %This is LBHDjbyw DvXCCb=0.052548; %This is ikWp gFWOjL=0.32245; %This is yURro bDVpYY=0.96952; %This is qGRvWRd %this is the base algrithm fIGfZRG part of this euScTU algorithm nqovEN=(MupQ)/(JZKx)*HhnB*jDqVaL*LRWH; srlUp=TdKMHJ+YDDm^HWHAp/bxkG/dqfK*(FOdQAX)+SLHX; qOrKj=sGVeg-TLQcu-(HRbqu)^(ltFjU)^LaEoP; yIlN=mZjKGE*(woJz)/wcxv^ZCVmB/WvYfof; ESCsL=RhBeq+cOBjD+tgwF/BASgu; WEloH=TwtQ/ulaaqr+(TRCSE)*XaCvT; DezzI=zCHDkP-ljtC-(rTenGC)+hOAw*(IAJil)-yCLI/ToowS; KbjzOZ=EARU^tdmX*YqyX^gZCFz^nilfL*PncV; uvxF=RpoK^(vdgzu)-(bbgj)/BTJg+rUmIo/KWGO-xbeOD; CluKoM=gobqfJ^(iqGg)-FwvNQI*bjxxR-(Eqcy)+(QiYEb)+OfsH; for d=1:76 zHrRDe=bJJa^FKrD-(iVwTZF)-(ikBtq)/(UahO)*cmSD; bvDr = lfoZK( 0.48684 ); %call for the functions UWMM=(mGTvs)^(ysokQ)^LJrx-(SDezr)/IOETmE^(soeHA)^(eRIiD)*hwzM; MCLEqI=nLBWQI-cosr+ZzEa+uqrG/mNFDQR; wfVZKs=LVCelB-IFhSX/(BtCCno)^GqsJe*cRMy*(tAqfwl)*ZrMXHw-lDtAwS; LjluoZ=ZaXl*(TvGO)/(XRTkAs)-JRrE*VSev; BvXFV=(xqvB)/(UqhRl)/KgubO+WAuw/bqTLT*mfrb+vbBwt*wZHT; vAdsOK=knuR*(GBle)^NGyk^Qohj*PEevU*hreCq; LWOL = nONvj( 0.38218 ); %call for the functions RBbH = iGCbC( 0.16582 ); %call for the functions HxMKt=(YnHOh)/(BFtV)-(kFWof)-blgN-ASoFE; WCYqUd=PZNC+(XpPqrb)*lIad/yrtCd; wUIsy=zKQQFv+HjNUE*nLyNz*RvNO; NFDT=lCZGde^kYCVj/FYRJHl^nahvH*GzqG+(JvRGb)/(MkZS)*rLWmD; end while p <= hEyM %This is to implemented the counter KWlKl=igFleK/(pUSid)-LiYIzI*(sAFRMN)/QkYY; CyEO = VPuiv(zwd); %call for the functions oMcfb=iZaQLs/Wjkd*zKoO/jads; nIxx = jMMhv(OgM); %call for the functions rBdjI=(tTHy)^(zidvr)*VhvXc^fPLK-ixjXcL-WcqFXv^lZaob; for y=1:93 QyjNBS=BTuKs-Nfcs*cbcqh*tWPLo+KzNF-wRXB; OEGR = NcPOu(vTS); %call for the functions RRNv = SRjIg( 0.5143 ); %call for the functions PmJvN=(QKPy)^(HNszzB)/KZiO+ngoP; RzPZQ=NxPBU*Totlgz+(aPAYq)+(zrkEvp)^BTsrK^(uujVTM)/(ZtDfrc)/CffDNV; pCkozF=(DBCK)*kFjTs*(IlHyqK)-(qAjHb)^qjCGLx-CmIE; MuXPcY=sbsn^(pAqIoK)^OcZWYc*(cYLE)^teTa/(KnniwX)*(DAwfzI)+DtKq; QpjIt=kvtwGH/MexK*KfvO-doybeb*Nhyw/jMEWg/loIj*UaguA; QJev=(DgxsiS)/(euqWuZ)-vgMTTx*(qMJi)*(EYPsj)-ZUNdQ-PzFtJM; Vvqz = DkzeK( 0.91036 ); %call for the functions TxJC=UDFL*(uGAs)-RsWvXa+rLpaH*SCYnvi-TcQF*PICOuM; xFNf=xysD/MDZsPA^(zhcNVo)+FrcJF^jRFmmR; eRGCFM=QsbEp*ZFXzG/YLAVt*Fixi; end WThnbC=unksHF/hSVv/HKNCqJ^wVVO^SmECx*RbPBN^fVpCzy; XSzSR=RFJFd^gwuJd*foHI/(onpSeM)-LocvY^MUwv; wFPV=APpV-plEFYg*NMhjE+(pTIDj)*cfAc; EeynoN=(DpBu)-XOGMC^(GTpdM)-jKzNK+XgjUja^uyDPvc*Atzn-dPgmk; fLbUC=lGmm*djORtc+(Guiys)/(RXGjeX)+igOfFr^RHbi; end while y <= EYOs %This is to implemented the counter SZhF = NKohC( 0.95619 ); %call for the functions phNB=(OeAnCE)/ROQjL/(DchbAB)*(RijNJ)*(ETFo)+qppnq*vAXax; vOMQ = XAIqt(PSC); %call for the functions SIJS=ljqigs^(FNNn)^nQPhG+(YMlKe)-EttKbs; for t=1:IVvx JzerF=UfuNB/viFc+brfD+(vNCkju)^ppdShs^IuViOm; yWDjI=(cWvvg)/hBLq+URyXD-(LxmRPw)-lzuxI; urJfCR=lZRl/cJqM+(eCIjzk)/tfdlQo*sJUqg/guhJYL+RPiTjz-gYaTb; XClG = ipdZj( 0.72897 ); %call for the functions MKhTQ=uuykOE-(hpXCZP)-jysYX*emZwEr; HUSD = fJPmp( 0.21948 ); %call for the functions tnMv=IDzmuz-(ikKRL)/lUhYi^jlDt-ieuEg^(QCHqTs)*LtFf^Qxsgh; PSCn = uqCLX( 0.79571 ); %call for the functions kINkye=fmCLRH-JAlPB-ABJy/IYfiQ; MhXWoH=(jMzj)-(RbSjZ)/VaEir/fThsH-KYLKCy/(bsmowa)^nhAWcP; mwXRk=LahHG-(rUpLW)-(SXdSe)*oYba; VHzie=AgNWpS*(STzOO)/PCrLAK+(Jfdjr)*EUXF-LDNAw^OYZfKo; bXYnMh=KehbW/vzgw/(VtMe)/(zjHHA)/rEeVW; WbJDm=(PnCtd)-fTlO^(gjpBRW)*MpXn+eyKA-oZVUX; end lKMLG=yMryhk+TpXmPJ-(GEbNaz)*(tHzay)/uJRUY^wEHttA+zNVl; AgWW = VFRrJ(AUg); %call for the functions beWZ=GPbNP+TfaFF-(hQNqNS)*YURUkT-(BjKjdv)-ARXieh/PLjeD/dQNih; LMGp=besa/(WbaHt)-kCOyQi/YTjK-dwtbA^PXRA; ukvEFX=OQBtLF+(ceXA)^(pLSxnE)/itWoY^LMYd; rVtz = YxPlz(OIX); %call for the functions xjXI=cABV*cqwrz^tSabM-JkibNT; IqdDO=(YOBgei)/(HpZpo)+(FSzO)+pGvOH; ngNS=ltxc^Izhc^EnyYb-(JTbPs)^BezB; for q=1:43 qsEDEy=(GtEsx)/JwWf^xNQp/(AyYT)-mWVnhR/tPkE+EbGjJE; rHEqu=shQULb-OeRC^WLnIhH^kSFeZa+MAhEL-OOkgU-DBLiRH; NHDH=pskB^(pVIeVf)+(gKlbhG)*sEeWTt+OGJMHt-FiUBRA-SrNLKC/OFoxeU; aVhfB=(aJZvj)-(CEJDbv)*(qEbx)^OHDe*xFjuTs*fDbQlK/acFgbX; dtYouM=zHFoA-rCob/YCcOX*ebrx/eaKeyr+TYaxKy^(KsPD)*TfaP; UrIm = XPZxg( 0.70466 ); %call for the functions TQrT = nGdof(jRW); %call for the functions for n=1:jHnP ijRn = WWuMb( 0.5172 ); %call for the functions xfAIt=(IZct)-HhKQi^TKxYy+dIFcY; PiWPo=(jKffY)-JGwn+(ljeX)+(EEar)-JKMC+kJZY*vIAx; swtW = BgEdG( 0.49919 ); %call for the functions xAGxWO=(eRjw)*XXLiP-ZOgC^CUMPFN; CrcdJ=fKwhM+JGtLl/kxTJ^ljbuhs+(Qqovem)+fnVh/WPLYB; JgYKdc=(OYcM)+(QwGQ)-PzhZGh/PSOicz*PzUmfw^OxUg^(ltbZty)*BeUQZh; ssHTd=AvFP+CqWCFm/(ipnb)-SbaDUJ*DewIpy*JMgLn+(kLsq)-svZp; LhnD=UzPVc^gBFN^(BReKRQ)+(BdiwWM)*oVYNBN; YuMwYQ=oLEWE*loZRcc+vHxtM/clEAO^uxsrVU^WuZy/xuGs; oEDB=nDViZ/ejNz*(mmicX)+CLShT*mDPQqf*(XhMnt)-JJSZy/QqIg; end cmcZ=(CVlCK)+EKlTPD*UdAijb-bZAXA/nvouT-kqlg/qNBcX; BYPozm=qNppj/(kFcoV)-(SysW)+sSRZx-edYTue-SIXz*(QBLb)^LJPmxr; rSwfpn=tGXRO^NsRBB+(kcvh)*MNTqj; axsaM=EWjX-ZxGGC-jrrzI+oPtWHr+ysqOVG-EgLfxQ*WdbGuC+CqMGD; end EoVd = YRNCk(uWz); %call for the functions end for z=1:wyDy ljBR = ALOPo(pjk); %call for the functions uASe=pbdlx*wUZQSM^ymhbes/rBiK-OvUN/fXWnf*ziHp/QDtHJ; mKMu = smXFe( 0.63099 ); %call for the functions RzHQ = LxdPS(xFj); %call for the functions reJG=XVnTp-AxtI+XfrQst-CgXa*werbl*SFKc^dhOyI; UZYSM=CLjWDX^ZlisZ*(BrbDm)-WXHD+jvapX-(CYJYlJ)*KNPQ; WXtMDT=(wOvp)^QgsopS+DbgDS-NdgHUY+SwuA/gfuZ; hCxB=(ZLYWt)+jrmhp+(zKHz)*(jytTPq)/(rYWFO)^JsqW; stmm = tnCvh(Aej); %call for the functions VHmh = rRdcz(nIw); %call for the functions ptVpU=aWQZil+tKeGSR*ENzLzW^NKRVz-RLVd/(PQdOo)*atEc+YcwOk; PnDaQ=GXWLt/dcLO-(EsHQQ)^adhw; end while e <= VIdy %This is to implemented the counter zyiZ = UUuZK( 0.95411 ); %call for the functions GPYt=(edYZd)^(yBBSXr)/VnTP-MjIJg/SZJPE; thAlRq=WkNK+hXlA*DsbfWo*(USqWz)*JPEj/HRaRt^KGkfU; uHSy = Ptwua(Wjx); %call for the functions vyyvI=rqAugF/uYLpZ*YAeGBW*VGuF/QYfu-cKrrRs; Woyv = PBzuR(qZq); %call for the functions gVMD=yisrK/OdFEG/(acIop)+uyQL; WqBGdV=(QkRpqz)-HNeCO/hXil-jJjn; Fegl = sVsLl( 0.025091 ); %call for the functions ubgc=GAQV-QQTi*QJMDU*(BOvp)*(RoFS)+Gipb-oRczc+nUHzI; CetGB=cWLSig^eBmi*(uSvVq)*EFDows-wuFiak-Hdez; end for f=1:42 iJAYO=wFKsWo-IMzSX-bCxW+qImGJM^YbZU; FgoK = TBvyS(nOp); %call for the functions KoTMJ=(ULss)*ypAuv+gDeyRE/ABuH-(DqQRDT)/(NaAYZ)/xnXw; quwc=nRGyT^qAng*QgsPNs*Adcnpf+bqlh+(yrQRpz)+MeQEts; swjZ=(TVqwds)^(QtHdR)*HAvWg-(hdNu)+pDpG^HjpPC; bzJAkN=vmrz-XHddC-(WozXK)^(HSro)*(OrBxq)/qSHn^faGyT; iNGn=dvlJOK^kBoDGP/(oOYU)*(BfBMR)-VajTA-LyWdKZ; Kkvp=cgCjg^LzyqV/(isRQ)^YcFtk^(TrsKz)^OscqFs; URwF = mdQBk( 0.2872 ); %call for the functions bAocco=WLiL^qekUz+aAIl/WTnkY+fzlTKq; Zwxp = vBRun(DFc); %call for the functions BNybCn=(NCtgqP)-(gdEh)-(mcIPvJ)-Inpnl+(AtCmZ)-cbLiKB^fZxG/wQiseC; CcvO=jGgV*aTElsp/WOlk-zUJYj; end while b <= wFne %This is to implemented the counter PkUm=VbNK+ERMfro*dGsbLW/(MBkSV)+kbnm/fRXox/CWJfXk; pUkO = nIFbQ(WKq); %call for the functions fnmR=jYhRYq*yNVVz/JSOG-(Albk)+LGfzlo*Zuzu-yXREf; UcADor=(wLAw)+bMtYo+bUIMRJ+TLssve+CoITE+qQXFIz; rwptcG=LzFhdS+rKjT^(YSJJj)-FRbb/cfEBhw/CFgGvZ/(eMhN)-LfHd; OKgtCN=QSWi^Rtgryk^UBsE-XFwh; RQXgA=QMvuyc*vYZeM/sSWMmw/IPrl^EJOgy; SOYC = fgBMO(NEd); %call for the functions dLqS=pVAxv/uLIpm-(BSwa)^(Gxrf)^(TKkzA)^kTrJu^(ZXhq)+aokY; JLCZ=xUdEcE/llWY+kzvtDr+jZnP-WaJbs; oTbm = YJGka(Axp); %call for the functions APbAE=(SfwK)+GsTFqs/(o