一、簡介

基于matlab GUI不等半徑泊車方法仿真

二、源代碼

function varargout = budengbanjinbochefangzhen(varargin) % BUDENGBANJINBOCHEFANGZHEN M-file for budengbanjinbochefangzhen.fig % ? ? ?BUDENGBANJINBOCHEFANGZHEN, by itself, creates a new BUDENGBANJINBOCHEFANGZHEN or raises the existing % ? ? ?singleton*. % % ? ? ?H = BUDENGBANJINBOCHEFANGZHEN returns the handle to a new BUDENGBANJINBOCHEFANGZHEN or the handle to % ? ? ?the existing singleton*. % % ? ? ?BUDENGBANJINBOCHEFANGZHEN('CALLBACK',hObject,eventData,handles,...) calls the local % ? ? ?function named CALLBACK in BUDENGBANJINBOCHEFANGZHEN.M with the given input arguments. % % ? ? ?BUDENGBANJINBOCHEFANGZHEN('Property','Value',...) creates a new BUDENGBANJINBOCHEFANGZHEN or raises the % ? ? ?existing singleton*. ?Starting from the left, property value pairs are % ? ? ?applied to the GUI before budengbanjinbochefangzhen_OpeningFcn gets called. ?An % ? ? ?unrecognized property name or invalid value makes property application % ? ? ?stop. ?All inputs are passed to budengbanjinbochefangzhen_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 budengbanjinbochefangzhen % Last Modified by GUIDE v2.5 14-Sep-2010 11:41:20 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', ? ? ? mfilename, ... ? ? ? ? ? ? ? ? ? 'gui_Singleton', ?gui_Singleton, ... ? ? ? ? ? ? ? ? ? 'gui_OpeningFcn', @budengbanjinbochefangzhen_OpeningFcn, ... ? ? ? ? ? ? ? ? ? 'gui_OutputFcn', ?@budengbanjinbochefangzhen_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 budengbanjinbochefangzhen is made visible. function budengbanjinbochefangzhen_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 budengbanjinbochefangzhen (see VARARGIN) % Choose default command line output for budengbanjinbochefangzhen handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes budengbanjinbochefangzhen wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = budengbanjinbochefangzhen_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;% 使這個變量變成全局變量 global width;% 使這個變量變成全局變量 global qianxuan;% 使這個變量變成全局變量 global houxuan;% 使這個變量變成全局變量 global lunjin;% 使這個變量變成全局變量 global fai;% 使這個變量變成全局變量 global x6;% 使這個變量變成全局變量 global y6;% 使這個變量變成全局變量 global x7;% 使這個變量變成全局變量 global y7;% 使這個變量變成全局變量 global x8;% 使這個變量變成全局變量 global y8;% 使這個變量變成全局變量 global x9;% 使這個變量變成全局變量 global y9;% 使這個變量變成全局變量 global ds;% 使這個變量變成全局變量 global r;% 使這個變量變成全局變量 global xd;% 使這個變量變成全局變量 global yd;% 使這個變量變成全局變量 axis([-10,20,-10,20]); axis manual; hold on; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %參數(shù)集，這里存放的為車輛與車位已經(jīng)仿真所需的主要參數(shù) %手動輸入?yún)?shù)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.edit8,'string')); y6=str2double(get(handles.edit9,'string')); x7=str2double(get(handles.edit10,'string')); y7=str2double(get(handles.edit11,'string')); x9=str2double(get(handles.edit12,'string')); y9=str2double(get(handles.edit13,'string')); x8=str2double(get(handles.edit14,'string')); y8=str2double(get(handles.edit15,'string')); ds=str2double(get(handles.edit7,'string')); % long=6;%long 為車車長 % width=3;%width 為車寬 % qianxuan=1;%qianxuan 為車前懸長度 % houxuan=1;% houxuan 為車后懸長度 % lunjin=0.3;%lunjin為車輪半徑 % fai=-(pi)/5;%fai 為前一段軌跡的車前輪偏角 % % % x6=11; % y6=15; % x7=18; % y7=15; % x8=18; % y8=0; % x9=11; % y9=0; ? % % ds=0.3; %仿真步長 %自動生成參數(shù)集 r=(long-qianxuan-houxuan)/abs(tan(fai));% 車輛的后軸中心點轉(zhuǎn)彎半徑 %theta0=(pi)/2;%theta0為起始點車身偏角 xd=(x8+x9)/2;%終點坐標 yd=(y8+y9)/2+1.5; h0=plot(xd,yd,'bo'); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %畫車位 %(x6,y6)、（x7,y7）、(x8,y8)、(x9,y9)分別為車位的四個端點坐標 %根據(jù)車位的四個端點畫出車位的輪廓 ? l0=plot([x6,x7],[y6,y7],'-k'); l1=plot([x7,x8],[y7,y8],'-k'); l2=plot([x8,x9],[y8,y9],'-k'); % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) global long;% 使這個變量變成全局變量 global width;% 使這個變量變成全局變量 global qianxuan;% 使這個變量變成全局變量 global houxuan;% 使這個變量變成全局變量 global lunjin;% 使這個變量變成全局變量 global fai;% 使這個變量變成全局變量 global x6;% 使這個變量變成全局變量 global y6;% 使這個變量變成全局變量 global x7;% 使這個變量變成全局變量 global y7;% 使這個變量變成全局變量 global x8;% 使這個變量變成全局變量 global y8;% 使這個變量變成全局變量 global x9;% 使這個變量變成全局變量 global y9;% 使這個變量變成全局變量 global ds;% 使這個變量變成全局變量 global r;% 使這個變量變成全局變量 global xd;% 使這個變量變成全局變量 global yd;% 使這個變量變成全局變量

三、運行結果