data-100.m

从事多机器人探测控制的朋友可以参考我写的源程序

lovelist=[4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4
4	0	0	0	1	0	0	0	0	0	0	0	0	0	2	0	0	0	1	1	0	0	0	1	0	0	1	1	2	1	0	0	0	0	0	1	0	0	0	0	0	0	0	2	0	0	0	53	1	4
4	0	0	0	0	0	0	0	0	0	0	0	2	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	1	0	0	0	0	0	0	0	1	0	0	0	0	4
4	0	0	1	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	2	0	0	1	0	0	0	0	0	0	0	1	0	0	2	2	0	0	0	0	2	0	0	0	0	52	4
4	0	0	0	0	0	0	0	0	0	0	0	2	0	0	0	0	0	0	0	0	0	0	0	0	2	0	1	0	1	0	0	0	0	0	0	0	0	0	0	1	0	0	0	0	1	0	0	1	4
4	2	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	1	2	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	2	0	0	0	0	4
4	0	0	0	1	0	0	0	0	0	0	0	2	0	1	0	0	0	1	0	0	0	0	2	0	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	1	0	0	4
4	0	0	0	0	0	0	1	0	0	0	2	1	0	2	0	1	0	0	0	0	0	0	0	0	0	0	0	0	0	51	0	0	0	0	0	1	2	0	0	0	0	2	0	0	1	0	1	0	4
4	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	1	0	0	1	0	0	1	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	0	4
4	0	1	0	1	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	1	1	0	1	0	0	0	0	0	0	0	0	2	2	0	0	0	0	0	0	0	0	0	0	2	0	0	0	0	4
4	0	0	1	1	1	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	1	0	0	0	0	0	0	1	0	0	0	0	1	0	1	0	0	0	4
4	0	0	0	0	0	0	2	0	2	0	0	0	2	0	0	0	0	1	0	2	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	4
4	0	2	0	0	0	2	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	0	2	0	1	4
4	0	0	0	0	1	0	0	1	0	0	0	1	1	0	0	1	0	0	0	0	0	0	1	0	2	0	0	0	2	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	1	1	1	4
4	1	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	1	0	2	0	0	1	0	0	0	0	0	0	1	2	0	0	0	0	0	4
4	0	2	0	0	0	0	0	0	0	0	0	0	0	1	1	0	0	1	0	0	1	0	1	0	0	0	0	0	1	0	1	1	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	4
4	0	0	0	0	0	2	1	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	2	0	1	0	0	0	2	0	0	0	0	0	0	0	0	0	2	0	0	1	0	0	0	0	1	4
4	2	0	0	0	0	0	0	1	1	0	0	0	0	0	0	2	0	0	0	0	0	0	0	0	0	0	0	0	0	1	1	0	1	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	4
4	0	0	0	0	0	1	1	0	0	0	0	1	1	0	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	1	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	0	0	4
4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4];

M=[0	5	0	5	0	5	0	5	0	5	0	5	0	5	0	5
1	5	53	5	0	5	0	5	0	5	0	5	0	5	0	5
4	5	4	5	4	5	0	5	0	5	52	5	0	5	1	5
];

bianjie=[50
];

bjval=[0	0	0	0	0	0	0	0
0	0	0	0	0	0	0	0
0	0	0	0	0	0	0	0];

cond=[3	3	3	3	3	3	3	3
5	0	10	10	10	10	10	10
0	0	0	10	10	0	10	5];

goatr=[0	0	0	0	0	0	0	0
0	0	0	0	0	0	0	0
0	0	0	0	0	0	0	0];

guiji=[2	2	2	4	2	6
3	2	2	3	2	7
4	3	2	4	3	8
5	4	3	5	4	8
6	3	2	6	3	9
7	2	2	7	2	10
8	2	2	8	2	11
9	3	2	9	2	12
10	2	2	10	2	13
11	3	2	11	2	14
12	4	2	12	3	15
13	5	2	13	2	16
13	6	3	14	3	17
12	5	4	15	2	18
11	6	5	14	3	19
10	7	6	15	3	20
9	8	5	16	2	21
8	7	5	17	3	21
7	8	6	16	4	21
8	7	7	16	4	22
9	6	8	16	5	23
10	6	9	16	5	24
11	7	10	15	6	25
12	6	9	14	7	25
13	5	10	14	8	24
14	6	11	13	9	23
15	7	12	12	10	23
16	8	11	11	10	22
17	9	10	10	9	21
18	8	9	11	9	20
18	7	8	11	10	20
19	6	7	11	11	21
18	5	8	11	12	22
19	4	9	12	13	23
19	3	10	13	12	24
19	2	11	14	13	25
19	3	12	15	13	26
19	4	13	16	13	27
19	5	13	17	14	27
19	6	14	16	15	27
18	7	15	16	16	28
19	8	16	17	17	27
19	9	17	17	18	26
19	10	17	16	19	25
18	11	17	15	18	24
17	12	17	14	18	23
18	13	18	15	18	22
18	14	19	16	17	21
19	15	19	17	18	20
19	16	19	18	19	21
19	17	19	19	19	22
19	18	19	20	18	23
19	19	19	21	19	24
19	20	19	22	19	25
19	21	18	23	19	26
19	22	19	24	19	27
18	23	19	25	19	28
19	24	19	26	19	29
19	25	19	27	19	30
19	26	19	28	18	31
19	27	19	29	17	32
19	28	19	30	18	33
19	29	18	31	19	34
18	30	19	32	19	35
17	30	19	33	19	36
16	31	19	34	18	37
17	32	19	35	17	38
17	33	19	36	18	39
16	34	18	37	19	40
16	35	17	38	19	41
15	34	16	39	19	42
14	33	15	39	19	43
13	32	14	40	18	44
12	32	15	41	19	45
11	33	14	40	19	46
10	32	13	39	18	47
9	32	12	39	17	47
8	32	11	40	16	48
9	33	10	41	15	47
9	34	9	41	14	46
8	33	8	40	13	45
7	34	8	39	12	46
6	35	7	38	11	47
5	34	7	37	11	46
6	35	6	36	10	47
5	34	5	37	9	48
4	33	5	38	8	49
3	32	5	39	7	49
2	32	4	40	6	49
3	32	4	41	5	48
4	31	4	42	4	49
4	30	5	42	3	49
4	29	4	41	2	48
4	28	3	42	3	49
5	29	2	43	2	48
6	29	3	44	3	49
7	29	2	45	2	48
7	28	2	46	3	49
8	29	2	47	2	48
9	30	3	48	3	49
8	31	4	49	2	48
];

lujing=[48	50	48
];

qiangbianjie=0

rexp=[0	0	0	0	0	0	0	0
45	39	33	25	17	25	33	39
51	46	41	33	25	32	39	45
];

robotwangge=[8	31
4	49
2	48
];

runi=100

scanp=[0	0
1	0
1	0
];

team=[30	30	30	30	0	0	0	30
30	30	30	30	30	30	30	30
30	30	30	30	30	30	30	30
];

val=[75	75	75	75	45	45	45	75
159	0	219.6	210	200.4	210	219.6	226.8
0	0	0	219.6	210	0	226.8	159
];

wangge=[4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4
4	0	3	0	1	0	3	0	0	0	0	0	0	0	2	3	0	3	1	1	3	0	0	1	0	0	1	1	2	1	0	3	0	0	0	1	0	0	0	0	0	0	3	2	0	0	0	0	1	4
4	3	0	0	0	0	0	0	0	0	0	0	2	0	3	0	3	0	0	0	3	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	1	0	0	0	0	0	0	0	1	0	0	0	0	4
4	0	0	1	0	0	0	3	0	0	0	0	0	0	3	0	0	0	0	0	3	0	0	2	0	0	1	3	0	0	0	0	0	0	1	0	0	2	2	3	0	3	0	2	0	0	0	0	0	4
4	0	0	3	0	0	0	0	0	0	0	0	2	0	0	0	3	0	0	0	0	0	0	0	0	2	0	1	0	1	0	0	0	3	0	0	0	0	0	0	1	3	0	0	0	1	0	0	1	4
4	2	0	0	0	0	0	0	0	0	0	0	0	0	3	0	0	0	1	0	0	0	1	2	0	0	0	0	3	0	0	0	0	0	3	3	0	0	0	0	1	0	0	0	2	0	0	0	0	4
4	0	0	0	1	0	0	3	0	0	3	0	2	0	1	0	0	0	1	0	0	0	0	2	3	0	0	3	3	0	0	0	0	0	1	0	3	0	0	0	0	0	0	0	0	0	1	0	0	4
4	0	0	0	0	0	0	1	0	0	0	2	1	0	2	0	1	0	0	0	0	0	0	0	0	0	0	0	0	0	0	3	0	0	0	0	1	2	3	0	0	0	2	0	0	1	0	1	3	4
4	0	3	0	0	0	0	3	0	1	0	0	0	3	0	3	0	0	1	3	1	1	0	0	1	0	0	0	0	3	0	0	0	3	0	0	1	0	0	0	3	0	0	0	0	0	0	0	0	4
4	0	1	0	1	0	1	0	0	3	0	0	0	0	0	0	0	0	1	0	1	3	3	1	0	0	0	0	0	0	0	0	2	2	0	0	0	0	0	0	0	0	0	0	2	0	1	0	0	4
4	0	0	1	1	0	0	0	0	0	3	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	1	0	0	0	1	0	0	0	0	0	0	1	0	0	0	0	1	0	3	3	0	0	4
4	0	0	0	0	0	0	2	0	2	0	3	0	2	0	0	0	0	1	0	2	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	3	0	0	0	0	0	0	3	0	1	0	4
4	0	2	0	3	3	2	0	0	0	0	0	0	0	0	0	3	0	0	0	0	0	0	1	0	3	3	0	0	0	0	0	0	1	0	0	0	0	3	0	0	0	0	0	3	0	2	0	1	4
4	0	0	0	0	0	0	0	1	0	0	0	1	1	0	1	1	0	0	0	0	0	0	1	0	2	3	0	0	2	0	0	0	0	0	0	0	1	0	3	0	0	0	0	0	0	1	1	1	4
4	1	0	0	0	1	1	0	0	0	0	0	0	0	0	3	0	0	1	0	0	0	0	0	0	0	0	0	0	0	1	0	2	0	0	1	0	0	3	0	3	0	1	2	0	0	0	0	0	4
4	0	2	0	0	0	0	0	0	0	0	0	0	0	1	1	0	0	1	0	0	1	0	1	0	0	0	3	0	1	0	1	1	0	3	0	0	0	0	1	0	0	0	0	0	0	0	0	0	4
4	0	0	0	0	0	2	1	3	0	0	3	0	0	0	0	3	0	0	0	3	0	0	0	2	0	0	0	0	0	2	3	0	0	0	0	0	3	0	0	2	0	0	1	0	0	3	0	1	4
4	2	0	0	3	0	0	0	1	1	0	0	0	0	0	0	2	0	0	3	0	0	0	0	0	1	0	0	0	0	3	1	0	1	0	0	0	0	3	0	0	0	0	0	0	0	0	0	0	4
4	3	0	0	0	0	1	0	1	0	0	0	1	1	0	0	0	0	0	0	0	0	1	0	3	0	0	0	0	0	1	1	0	3	0	0	0	0	0	0	0	0	0	1	0	3	0	0	0	4
4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4	4
];

zwd=[8	31	9	31	10	31	10	30	10	29	9	29	8	29	8	30
2	49	3	49	4	49	4	48	4	47	3	47	2	47	2	48
2	50	3	50	4	50	4	49	4	48	3	48	2	48	2	49
];