101 lines
3.3 KiB
Matlab
101 lines
3.3 KiB
Matlab
% 所有路径数据定义
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paths = {
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[2,2; 5,5; 7,5; 11,9; 11,10; 10,11; 18,19; 19,19], 'A*';
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[2,2; 9,2; 9,6; 11,6; 11,10; 10,10; 10,12; 13,12; 13,13; 17,13; 17,14; 18,14; 18,18; 18,19; 19,19], 'Dijkstra';
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[2,2; 7,2; 10,6; 14,3; 18,7; 14,11; 10,13; 10,18; 15,17; 19,19], 'RTT_one';
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[2,2; 7,2; 10,6; 5,7; 3,11; 7,14; 11,12; 16,14; 16,19; 19,19], 'RTT_two';
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[2,2; 7,2; 10,6; 5,8; 2,12; 2,17; 7,17; 11,15; 16,16; 19,19], 'RTT_three';
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[2,2; 7,2; 10,6; 15,5; 11,9; 9,14; 13,17; 18,19; 19,19], 'RTT_four';
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};
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% 模拟参数
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v_normal = 10; % 直线速度 m/s
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a_turn = -2; % 拐弯减速加速度 m/s^2
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dt = 0.1; % 时间步长
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% 遍历每一组路径
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for k = 1:size(paths, 1)
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points = paths{k,1};
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group_name = paths{k,2};
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time = 0;
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time_series = [];
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speed_series = [];
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acc_series = [];
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total_distance = 0;
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total_time = 0;
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for i = 1:size(points, 1) - 1
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p1 = points(i, :);
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p2 = points(i + 1, :);
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segment_vector = p2 - p1;
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segment_distance = norm(segment_vector);
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total_distance = total_distance + segment_distance;
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if i > 1
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prev_vec = points(i, :) - points(i - 1, :);
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angle = acos(dot(prev_vec, segment_vector) / (norm(prev_vec) * norm(segment_vector)));
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delta_v = abs(v_normal * sin(angle / 2));
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if delta_v > 0
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t_decel = delta_v / abs(a_turn);
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t_accel = t_decel;
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% 减速段
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t = 0:dt:t_decel;
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v_decel = v_normal - abs(a_turn) * t;
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a_decel = -abs(a_turn) * ones(size(t));
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% 加速段
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t2 = 0:dt:t_accel;
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v_accel = v_normal - delta_v + abs(a_turn) * t2;
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a_accel = abs(a_turn) * ones(size(t2));
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% 拼接
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time_series = [time_series, time + t];
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speed_series = [speed_series, v_decel];
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acc_series = [acc_series, a_decel];
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time = time + t_decel;
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time_series = [time_series, time + t2];
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speed_series = [speed_series, v_accel];
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acc_series = [acc_series, a_accel];
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time = time + t_accel;
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total_time = total_time + t_decel + t_accel;
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end
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end
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% 匀速段
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t_segment = segment_distance / v_normal;
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t = 0:dt:t_segment;
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v_const = v_normal * ones(size(t));
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a_const = zeros(size(t));
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time_series = [time_series, time + t];
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speed_series = [speed_series, v_const];
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acc_series = [acc_series, a_const];
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time = time + t_segment;
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total_time = total_time + t_segment;
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end
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% 输出总路程与用时
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fprintf('%s：总路程 = %.2f 米，总用时 = %.2f 秒\n', group_name, total_distance, total_time);
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% 绘图
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figure('Name', group_name, 'NumberTitle', 'off');
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subplot(2,1,1);
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plot(time_series, speed_series, 'b', 'LineWidth', 2);
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xlabel('时间 (s)');
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ylabel('速度 (m/s)');
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title([group_name ' - 速度-时间图']);
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grid on;
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subplot(2,1,2);
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plot(time_series, acc_series, 'r', 'LineWidth', 2);
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xlabel('时间 (s)');
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ylabel('加速度 (m/s²)');
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title([group_name ' - 加速度-时间图']);
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grid on;
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end
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