%?Copyright?2009-2010?T2010-05-15?
%?-------------------------------------------------------------------------
%?Qingdao?University??
%?Scholl?of?Automation?Engineering
%?No.308?Ningxia?Road
%?Qingdao?P.R.China?266071
%?$Revision:?1.00?$?$Date:?2010/05/15???$Time:15:33:09
%--------------------------------------------------------------------------?
%?本程序基于matlab2009b，使用時(shí)請(qǐng)注意	
%?/*************************************************
%?Function:?//?Main
%?Description:?//?入口函數(shù)
%?Calls:?//?
%?Called?By:?//?
%***************************************************
%?Table?Accessed:?//
%***************************************************
%?Input:?//
%?Output:?//
%?Return:?//?
%?Others:?//?
%?**************************************************/

tic;?%計(jì)時(shí)開(kāi)始
close?all;clear;clc;
%-----加載當(dāng)前目錄----------------------
%%

!echo?加載數(shù)據(jù)，請(qǐng)稍后!
!echo?loading…
addpath（‘.‘）;
addpath（‘.\DateLoading‘）;
addpath（‘.\DateProcessing‘）;
addpath（‘.\images‘）;
addpath（‘.\Drawing‘）;
%%
%-----加載當(dāng)前目錄----------------------
%%加載第一個(gè)問(wèn)題的數(shù)據(jù)
MR1StartPosition?=?DateInput（1）;?%%起始位置
MR1EndPosition?=??DateInput（3）;??%%終止位置

%%加載第二個(gè)問(wèn)題的數(shù)據(jù)
MR2StartPosition?=?DateInput（2）;?%%起始位置
MR2EndPosition?=??DateInput（3）;??%%終止位置

%%?路徑選擇?選擇標(biāo)準(zhǔn)?1，總距離；2，?偏差
MR1SEChoice?=?SMRFSEChoice（?MR1StartPosition?MR1EndPosition）;
MR2SEChoice?=?SMRFSEChoice（?MR2StartPosition?MR2EndPosition）;

%%?繪制坐標(biāo)圖
%?!echo?繪制坐標(biāo)圖
%?pause（1）
%?DrawSMRFQuestion1?%%繪制第一個(gè)問(wèn)題
%?DrawSMRFQuestion2?%%繪制第二個(gè)問(wèn)題

%%
%---------計(jì)算軌跡五個(gè)機(jī)器人的運(yùn)行軌跡-----不考慮碰撞---------
[MRSETrace.A?MRSETrace.epochs（101）]=?SMRFSETrace（MR1StartPositionMR1EndPosition101）;
[MRSETrace.B1?MRSETrace.epochs（201）]=?SMRFSETrace（MR1StartPositionMR1EndPosition201）;
[MRSETrace.B2?MRSETrace.epochs（202）]=?SMRFSETrace（MR1StartPositionMR1EndPosition202）;
[MRSETrace.B3?MRSETrace.epochs（203）]=?SMRFSETrace（MR1StartPositionMR1EndPosition203）;
[MRSETrace.B4?MRSETrace.epochs（204）]=?SMRFSETrace（MR1StartPositionMR1EndPosition204）;


%%
%---------計(jì)算軌跡五個(gè)機(jī)器人的運(yùn)行軌跡---------考慮碰撞---------
%?MRSETraceEx1?=?SMRFSETraceEx（MR1StartPositionMR1EndPosition）;
MRSETraceEx2?=?SMRFSETraceEx（MR2StartPositionMR2EndPosition）;

%%?繪制坐標(biāo)圖
%?!echo?繪制坐標(biāo)圖
%?pause（1）
%?DrawSMR1Trace??%%繪制第一個(gè)問(wèn)題的臂章路徑圖
%?DrawSMR2Trace??%%繪制第二個(gè)問(wèn)題的臂章路徑圖
%?DrawSMRAnim2?%%繪制動(dòng)畫(huà)，留有行駛軌跡
%?DrawSMR1AnimEx?%%繪制第一個(gè)問(wèn)題動(dòng)畫(huà)，沒(méi)有行駛軌跡
%?DrawSMR2AnimEx?%%繪制第二個(gè)問(wèn)題動(dòng)畫(huà)，沒(méi)有行駛軌跡
%?DrawSMRFQuestion1Tegether????%問(wèn)題一的配對(duì)圖
%?DrawSMRFQuestion2Tegether002?%隨機(jī)數(shù)據(jù)中第二組數(shù)據(jù)的配對(duì)圖
%?DrawSMRFQuestion2Tegether001?%隨機(jī)數(shù)據(jù)中第一組數(shù)據(jù)的配對(duì)圖

!echo?數(shù)據(jù)加載完成!

toc;%?計(jì)時(shí)結(jié)束


?

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????1660??2010-05-18?21:27??程序\SolvingMulti-RobotFormation\DateLoading\DateHandling.m

?????文件????????543??2010-05-15?16:56??程序\SolvingMulti-RobotFormation\DateLoading\DateInput.m

?????文件???????1089??2010-05-19?11:24??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFRedAlert.m

?????文件????????944??2010-05-18?11:30??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSEChoice.m

?????文件????????685??2010-05-16?15:42??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSEInfo.m

?????文件???????1699??2010-05-16?15:43??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETrace.m

?????文件???????8939??2010-05-19?12:39??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETraceEx.asv

?????文件???????9271??2010-05-19?13:11??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETraceEx.m

?????文件???????5228??2010-05-17?16:23??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETraceEx2.m

?????文件???????5327??2010-05-17?16:40??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETraceEx3.m

?????文件???????9569??2010-05-19?11:22??程序\SolvingMulti-RobotFormation\DateProcessing\SMRFSETraceEx4.m

?????文件???????1309??2010-05-19?10:01??程序\SolvingMulti-RobotFormation\Drawing\DrawSMR1AnimEx.m

?????文件???????1280??2010-05-19?09:03??程序\SolvingMulti-RobotFormation\Drawing\DrawSMR1Trace.m

?????文件???????1307??2010-05-19?13:02??程序\SolvingMulti-RobotFormation\Drawing\DrawSMR2AnimEx.m

?????文件???????1281??2010-05-19?09:03??程序\SolvingMulti-RobotFormation\Drawing\DrawSMR2Trace.m

?????文件???????1792??2010-05-16?15:59??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion1.m

?????文件???????2322??2010-05-18?19:37??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion1Tegether.asv

?????文件???????2332??2010-05-18?19:39??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion1Tegether.m

?????文件???????1792??2010-05-18?13:09??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion2.m

?????文件???????2308??2010-05-19?09:32??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion2Tegether001.m

?????文件???????2336??2010-05-18?21:29??程序\SolvingMulti-RobotFormation\Drawing\DrawSMRFQuestion2Tegether002.m

?????文件????????574??2010-05-15?16:07??程序\SolvingMulti-RobotFormation\Drawing\model.m

?????文件??????25600??2010-05-18?13:11??程序\SolvingMulti-RobotFormation\files\試題B——多機(jī)器人編隊(duì)求解.doc

?????文件??????23956??2010-05-18?20:24??程序\SolvingMulti-RobotFormation\images\2009.jpg

?????文件??????49450??2010-05-18?20:18??程序\SolvingMulti-RobotFormation\images\復(fù)件?復(fù)件?臂章路徑圖.jpg

?????文件??????45357??2010-05-18?19:49??程序\SolvingMulti-RobotFormation\images\復(fù)件?臂章路徑圖.jpg

?????文件??????49801??2010-05-18?20:30??程序\SolvingMulti-RobotFormation\images\復(fù)件?臂章路徑圖Ex副本.jpg

?????文件??????61252??2010-05-18?19:24??程序\SolvingMulti-RobotFormation\images\復(fù)件?問(wèn)題1，開(kāi)始結(jié)束時(shí)機(jī)器人的位置.jpg

?????文件??????44794??2010-05-18?19:39??程序\SolvingMulti-RobotFormation\images\機(jī)器人走過(guò)的路徑.jpg

?????文件??????45357??2010-05-18?19:49??程序\SolvingMulti-RobotFormation\images\臂章路徑圖.jpg

............此處省略20個(gè)文件信息