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

一、获取代码方式

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二、部分源代码

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


  

 

  
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三、运行结果

四、matlab版本及参考文献

1 matlab版本
2014a

2 参考文献
[1] 门云阁.MATLAB物理计算与可视化[M].清华大学出版社，2013.

文章来源: qq912100926.blog.csdn.net，作者：海神之光，版权归原作者所有，如需转载，请联系作者。

原文链接：qq912100926.blog.csdn.net/article/details/115434377