Perform the path between two pixels in respect with a potential field (obstacles).
[px,py] = NARVAL_IP_PotentialPathP(x,y,xg,yg,u)
x-coordinate of the starting pixel.
y-coordinate of the starting pixel.
x-coordinate of the ending pixel.
y-coordinate of the ending pixel.
potential matrix.
x-coordinates of all pixels belonging to the path.
y-coordinates of all pixels belonging to the path.
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).
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)); | ![]() | ![]() |
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