bjval.m

从事多机器人探测控制的朋友可以参考我写的源程序

function [bjval,aaj]=bjval(lovelist,zwd,robotnum)
%---------------------------------------边界规则求的是距离本区域未探测点行坐标的最小值。
bjval=zeros(robotnum,8)+10;aaj=1;
for ri=1:robotnum
    for rj=1:8
        cn=zwd(ri,2*rj-1);cm=zwd(ri,2*rj);
        for rp=1:20
            for rk=1:50         
                if (lovelist(rp,rk)+1)*(lovelist(rp,rk)-3)==0
                   bjval(ri,rj)=min(abs([max(rp-cn,rk-cm),bjval(ri,rj)]));
                end
            end
        end
     end
end
bjval=10-bjval;