【运动学】 GUI最小半径泊车方法仿真【含Matlab源码 690期】.zip

function varargout = bochefangzhen(varargin) % BOCHEFANGZHEN M-file for bochefangzhen.fig % BOCHEFANGZHEN, by itself, creates a new BOCHEFANGZHEN or raises the existing % singleton*. % % H = BOCHEFANGZHEN returns the handle to a new BOCHEFANGZHEN or the handle to % the existing singleton*. % % BOCHEFANGZHEN('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in BOCHEFANGZHEN.M with the given input arguments. % % BOCHEFANGZHEN('Property','Value',...) creates a new BOCHEFANGZHEN or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before bochefangzhen_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to bochefangzhen_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help bochefangzhen % Last Modified by GUIDE v2.5 30-Aug-2010 12:37:35 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @bochefangzhen_OpeningFcn, ... 'gui_OutputFcn', @bochefangzhen_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before bochefangzhen is made visible. function bochefangzhen_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to bochefangzhen (see VARARGIN) % Choose default command line output for bochefangzhen handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes bochefangzhen wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = bochefangzhen_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) global long;% 使这个变量变成全局变量 global width;% 使这个变量变成全局变量 global qianxuan;% 使这个变量变成全局变量 global houxuan;% 使这个变量变成全局变量 global lunjin;% 使这个变量变成全局变量 global fai;% 使这个变量变成全局变量 global x6;% 使这个变量变成全局变量 global y6;% 使这个变量变成全局变量 global x7;% 使这个变量变成全局变量 global y7;% 使这个变量变成全局变量 global x8;% 使这个变量变成全局变量 global y8;% 使这个变量变成全局变量 global x9;% 使这个变量变成全局变量 global y9;% 使这个变量变成全局变量 global ds;% 使这个变量变成全局变量 global r;% 使这个变量变成全局变量 global xd;% 使这个变量变成全局变量 global yd;% 使这个变量变成全局变量 axis([-10,20,-10,20]); axis manual; hold on; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %参数集，这里存放的为车辆与车位已经仿真所需的主要参数 %手动输入参数集 long=str2double(get(handles.edit1,'string')); width=str2double(get(handles.edit2,'string')); qianxuan=str2double(get(handles.edit3,'string')); houxuan=str2double(get(handles.edit4,'string')); lunjin=str2double(get(handles.edit5,'string')); fai=str2double(get(handles.edit6,'string')); x6=str2double(get(handles.edit7,'string')); y6=str2double(get(handles.edit8,'string')); x7=str2double(get(handles.edit9,'string')); y7=str2double(get(handles.edit10,'string')); x9=str2double(get(handles.edit11,'string')); y9=str2double(get(handles.edit12,'string')); x8=str2double(get(handles.edit13,'string')); y8=str2double(get(handles.edit14,'string')); ds=str2double(get(handles.edit15,'string')); % long=6;%long 为车车长 % width=3;%width 为车宽 % qianxuan=1;%qianxuan 为车前悬长度 % houxuan=1;% houxuan 为车后悬长度 % lunjin=0.3;%lunjin为车轮半径 % fai=-(pi)/5;%fai 为前一段轨迹的车前轮偏角 % % % x6=11; % y6=15; % x7=18; % y7=15; % x8=18; % y8=0; % x9=11; % y9=0; % % ds=0.3; %仿真步长 %自动生成参数集 r=(long-qianxuan-houxuan)/abs(tan(fai));% 车辆的后轴中心点转弯半径 %theta0=(pi)/2;%theta0为起始点车身偏角 xd=(x8+x9)/2;%终点坐标 yd=(y8+y9)/2+1.5; h0=plot(xd,yd,'bo'); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %画车位 %(x6,y6)、（x7,y7）、(x8,y8)、(x9,y9)分别为车位的四个端点坐标 %根据车位的四个端点画出车位的轮廓 l0=plot([x6,x7],[y6,y7],'-k'); l1=plot([x7,x8],[y7,y8],'-k'); l2=plot([x8,x9],[y8,y9],'-k'); % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- If Enable == 'on', executes on mouse press in 5 pixel border. % --- Otherwise, executes on mouse press in 5 pixel border or over pushbutton1. function pushbutton1_ButtonDownFcn(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- Executes on button press in pushbutton3. function pushbutton3_Callback(hObject, eventdata, handles) cla reset; clear all; % hObject handle to pushbutton3 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) global long;% 使这个变量变成全局变量 global width;% 使这个变量变成全局变量 global qianxuan;% 使这个变量变成全局变量 global houxuan;% 使这个变量变成全局变量 global lunjin;% 使这个变量变成全局变量 global fai;% 使这个变量变成全局变量 global x6;% 使这个变量变成全局变量 global y6;% 使这个变量变成全局变量 global x7;% 使这个变量变成全局变量 global y7;% 使这个变量变成全局变量 global x8;% 使这个变量变成全局变量 global y8;% 使这个变量变成全局变量 global x9;% 使这个变量变成全局变量 global y9;% 使这个变量变成全局变量 global ds;% 使这个变量变成全局变量 global r;% 使这个变量变成全局变量 global xd;% 使这个变量变成全局变量 global yd;% 使这个变量变成全局变量 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% ys=inf; yt=inf; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %画轨迹,求t1,t2 [x0,y0] = ginput(1);%获取起点坐标 plot(x0,y0,'bo'); m1=-(xd-x0-r)^2-3*r^2-(yd-y0)^2; m2=4*r*(xd-x0-r); m3=4*r*(yd-y0); t1=-asin(m1/(sqrt(m2^2+m3^2)))+asin(m2/(sqrt(m2^2+m3^2))); m4=yd-y0+2*r*sin(t1); m5=asin(m4/r); t2=t1-m5; x1=x0+r; y1=y0; x2=x1-2*r*cos(t1); y2=y1-2*r*sin(t1); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\ %约束空间生成 if((sqrt((x0-xd+r)^2+(y0-yd)^2)-3*r)>0) fprintf('距离过远，最小半径泊车方法无法泊车\n'); return; end if((t1-t2)+(pi/8)<0 | (t1-t2)-(pi/8)>0) fprintf('终点车身偏角过大，最小半径泊车方法无法泊车\n'); return; end %第一阶段轨迹 x1=x0+r; y1=y0; fai1=fai; for i=pi:ds:(pi+t1) x=x1+r*cos(i); y=y1+r*sin(i); theta=i-(pi/2);%theta0为起始点车身偏角 jiao1=atan((width/2)/(long-houxuan)); jiao2=jiao1; jiao3=atan((width/2)/houxuan); jiao4=jiao3;