griddrawn.m

实现了 栅格路径规划 可以自己选择随机路障

function griddrawn
GridNumber = input('请输入栅格数(10-50):'); 
n=input('请输入路障比列（0.1-0.7）：');
n=GridNumber^2*n;
%GridNumber=20;
%m=20;
%n=80;
m=GridNumber;
Dxy=1/m;
XNum=round(1/Dxy);
for i=1:1:m+1
    line([0 1],[Dxy*(i-1) Dxy*(i-1)],'Color',[0 1 0]);
    i=i+1;
end
for i=1:1:XNum+1
    line([Dxy*(i-1) Dxy*(i-1)],[0 1],'Color',[0 1 0]);
    i=i+1;
end
%pause
a=zeros(m,m);
indx=randperm(prod(size(a)));
random_indx=indx(1:n);
a(random_indx)=1;
A=[];
for i=1:m
    for j=1:m
        if a(i,j)==1
            A=[A,[i;j]];
        end
    end
end
%pause
for i=1:n %设置障碍物
x=A(1,i);
y=A(2,i);
xx=round(x-0.5);
yy=round(y-0.5);
Grid(xx,yy)=1;
xx=xx/GridNumber;
yy=yy/GridNumber;
XX=linspace(xx,xx-1/GridNumber,100);
YY=linspace(yy-1/GridNumber,yy-1/GridNumber,100);
hold on
handleArea=area(XX,YY,yy);
end