修改bug

percyhzy · May 25, 2021 · bf22c5b · bf22c5b
1 parent db50799
commit bf22c5b
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Showing 14 changed files with 10 additions and 16 deletions.
diff --git a/.DS_Store b/.DS_Store
diff --git a/Project/.DS_Store b/Project/.DS_Store
diff --git a/第八章：模型预测控制在运动规划的应用/.DS_Store b/第八章：模型预测控制在运动规划的应用/.DS_Store
diff --git a/第八章：模型预测控制在运动规划的应用/L8Homework/.DS_Store b/第八章：模型预测控制在运动规划的应用/L8Homework/.DS_Store
diff --git a/第八章：模型预测控制在运动规划的应用/L8Homework/mpc_examples/home_work.m b/第八章：模型预测控制在运动规划的应用/L8Homework/mpc_examples/home_work.m
@@ -22,13 +22,14 @@
     for i = 1:20
         tref = t + i*0.2;
         r=0.25*tref;
-        pt(i,1) = r*sin(0.2*tref);
-        vt(i,1) = r*cos(0.2*tref);
-        at(i,1) = -r*sin(0.2*tref);
+        w = 0.7;
+        pt(i,1) = r*sin(w*tref);
+        vt(i,1) = r*cos(w*tref);
+        at(i,1) = -r*sin(w*tref);
 
-        pt(i,2) = r*cos(0.2*tref);
-        vt(i,2) = -r*sin(0.2*tref);
-        at(i,2) = -r*cos(0.2*tref);
+        pt(i,2) = r*cos(w*tref);
+        vt(i,2) = -r*sin(w*tref);
+        at(i,2) = -r*cos(w*tref);
 
         pt(i,3) = 20 - 0.5*tref;
         vt(i,3) = -0.5;

diff --git a/第八章：模型预测控制在运动规划的应用/L8Homework/uni/pso/pso_select.m b/第八章：模型预测控制在运动规划的应用/L8Homework/uni/pso/pso_select.m
@@ -54,6 +54,7 @@
             P(i,1) = P(i,1) + P(i,3);
             P(i,4) = w * P(i,4)+ 0.2*(rand) * (P(i,6) - P(i,2)) + 0.2*(rand) * (global_best(2) - P(i,2));
             P(i,2) = P(i,2) + P(i,4);
+            P(i,1:2) = limitRange(P(i,1:2));
         end
         %evaluate the particles
         cost = evaluate(R,omega,p0,P(i,1),last_theta-theta,v_ini,P(i,2));

diff --git a/第八章：模型预测控制在运动规划的应用/L8Homework/uni/pso/pso_test_obstacle.m b/第八章：模型预测控制在运动规划的应用/L8Homework/uni/pso/pso_test_obstacle.m
@@ -34,7 +34,7 @@
 a_list=[];          % 输入列表
 
 %% 开始仿真
-for n=1:450
+for n=1:700
     % 使用PSO算法选择最佳的线速度和角速度
     global_best = pso_select(theta,omega,v_c,[x y]',theta_target,v_target);
     theta_target = global_best(1);

diff --git a/第八章：模型预测控制在运动规划的应用/README.md b/第八章：模型预测控制在运动规划的应用/README.md
@@ -1,11 +1,3 @@
-<!--
- * @Author: your name
- * @Date: 2021-05-08 21:18:42
- * @LastEditTime: 2021-05-08 22:41:24
- * @LastEditors: Please set LastEditors
- * @Description: In User Settings Edit
- * @FilePath: /Motion-plan/第八章：模型预测控制在运动规划的应用/README.md
--->
 # 第八章作业
 
 本次的作业主要是利用模型预测控制(MPC)来完成路径规划
@@ -26,5 +18,5 @@
 
 ![](pictures/4.png)
 
-![](pictures/6.png)
+![](pictures/5.png)
 
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/.DS_Store b/第八章：模型预测控制在运动规划的应用/pictures/.DS_Store
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/1.png b/第八章：模型预测控制在运动规划的应用/pictures/1.png
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/2.png b/第八章：模型预测控制在运动规划的应用/pictures/2.png
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/3.png b/第八章：模型预测控制在运动规划的应用/pictures/3.png
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/4.png b/第八章：模型预测控制在运动规划的应用/pictures/4.png
diff --git a/第八章：模型预测控制在运动规划的应用/pictures/5.png b/第八章：模型预测控制在运动规划的应用/pictures/5.png