Perform the potential field of an obstacle.
[u] = NARVAL_IP_PotentialPath(o,mo)
obstacle matrix.
infinite potential value (origin).
potential matrix.
NARVAL_IP_PotentialPath performs the potential field u of the obstacle o. All pixels that belong to the obstacle have an infinite potential value mo.
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; 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);//application of NARVAL_IP_PotentialPath U | ![]() | ![]() |
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