ymls_selector.m

规则障碍物环境下的机器人路径规划matlab源码！

function newP1=ymLS_selector(P,m)
B=P;
B1=[];
B2=[];
for i=1:m
    a1=unidrnd(m);
    B1=B(a1,:);
    b1=unidrnd(m);
    B2=B(b1,:);
    if B1(1)<B2(1)
        newP(i,:)=B1;
    elseif B1(1)==B2(1)
        newP(i,:)=B1;
    else
        newP(i,:)=B2;
    end
end
newP1=newP;