PSO_PathPlaning

This open source project is a matlab GUI project,is a Robot Path Planing Demo use Particle Swarm Optimization(PSO) algorithm

Usage

• Open and run pathPlaning.m

• Click button '添加圆' ->left click and drag cursor to generate a circle data set->Click button '结束添加'->Click button '选择起始点'->Left click and select start-point and end-point->Click button '规划路径'->end

  

More Usage

• Get result as Bezier curve,result (x11,y11) and (x21,y21) are Bezier control points,(x0,y0) and (x1,y1) also.Show as image:

Or can get these result from code below:

function pushbutton3_Callback(...)
...
h = waitbar(0,'Please wait...');
while Iter_current < Iter_max
    ...
end
close(h);

x11 = G_best(1)*100; x21 = G_best(3)*100;
y11 = G_best(2)*100; y21 = G_best(4)*100;
x0 = P0(1)*100;
y0 = P0(2)*100;
x1 = P1(1)*100;
y1 = P1(2)*100;
tt = 0:1/79:1;		%steps
x_t1 = (-x0+3.*x11-3.*x21+x1).*tt.^3+(3.*x0-6.*x11+3.*x21).*tt.^2+(-3.*x0+3.*x11).*tt+x0;
y_t1 = (-y0+3.*y11-3.*y21+y1).*tt.^3+(3.*y0-6.*y11+3.*y21).*tt.^2+(-3.*y0+3.*y11).*tt+y0;
%% 绘制路线数据和场地信息数据
plot(x_t1,y_t1,'.r')    %  路线数据
hold on

Help

• Q:Why result multiply by 100?

  A:

TODO:

![Alt text](https://g.gravizo.com/svg?
  digraph G {
    aize ="4,4";
    main [shape=box];
    main -> parse [weight=8];
    parse -> execute;
    main -> init [style=dotted];
    main -> cleanup;
    execute -> { make_string; printf}
    init -> make_string;
    edge [color=red];
    main -> printf [style=bold,label="100 times"];
    make_string [label="make a string"];
    node [shape=box,style=filled,color=".7 .3 1.0"];
    execute -> compare;
  }
)