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NARVAL >> NARVAL > NARVAL_IP_PotentialPathP

NARVAL_IP_PotentialPathP

Perform the path between two pixels in respect with a potential field (obstacles).

Calling Sequence

[px,py] = NARVAL_IP_PotentialPathP(x,y,xg,yg,u)

Parameters

x :

x-coordinate of the starting pixel.

y :

y-coordinate of the starting pixel.

xg :

x-coordinate of the ending pixel.

yg :

y-coordinate of the ending pixel.

u :

potential matrix.

px :

x-coordinates of all pixels belonging to the path.

py :

y-coordinates of all pixels belonging to the path.

Description

NARVAL_IP_PotentialPathP performs the path P defined by all pixels of coordinates [px,py] between the two pixels [x,y] and [xg,yg] in respect with the potential field u (see NARVAL_IP_PotentialPath).

Examples

dt=getdate();
seed=dt(10);
rand('seed',seed);//initialization of the random values generator
no=4;//quantity of obstacles (rectangle)
L=1000;//squared area side
hm=100;//minimal height
hM=250;//maximal height
wm=100;//minimal width
wM=250;//maximal width
Al=[0 %pi/2 %pi -%pi/2];//available angles for obstacles
[Xs,Ys,X,Y,H,W,A]=NARVAL_IP_RectObstacles(no,L,hm,hM,wm,wM);//generation of obstacles
[P]=NARVAL_IP_PotentialRot(X,Y,H,W,A,L);//generation of obstacle matrix
z=10;//zoom factor
o=2;// 1=mean, 2=max, 3=min, 4=median
Pz=NARVAL_IP_MRA(P,z,o);//scale modification
[Pzx,Pzy]=size(Pz);//image size
w1=1;//window index
scf(w1);
clf(w1);
grayplot(1:Pzx,1:Pzy,Pz);//graph visualization
xset("colormap",graycolormap(128));
mO=100000;//infinite value of obstacles
[U]=NARVAL_IP_PotentialPath(Pz,mO);//performance of the potential field
x=2;//origine
y=2;
xg=Pzx-1;//destination:first diagonal
yg=Pzy-1;
[px,py]=NARVAL_IP_PotentialPathP(x,y,xg,yg,U);//application of NARVAL_IP_PotentialPathP
px
py
PPl=Pz;
for kk=1:length(px)
PPl(px(kk),py(kk))=2;
end
w2=2;
scf(w2);
clf(w2);
grayplot(1:Pzx,1:Pzy,PPl);//graph visualization
xset("colormap",graycolormap(128));

Authors

Foued Melakessou

Contact

Dr. Foued Melakessou

Research Associate

Interdisciplinary Centre for Security, Reliability and Trust

Room F106

University of Luxembourg

6, rue Coudenhove Kalergi

L-1359 Luxembourg-Kirchberg

E-mail: foued.melakessou@uni.lu

Tel: (+352) 46 66 44 5346

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