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Matlab algorithm of obstacle avoidance

Time:09-15

As shown in figure in the polar coordinates R=2, 0-180 range every 0.1 degree can be divided into 1800 points of intersection for each (R, theta), come to assign a potential energy, 100, at the same time, the left side of the point at which the first assignment potential energy, 99, the fu 98 second from the left... And so on data points cycle after add each point on the result of the accumulation
Now the idea is to each point number and the assignment but not into the matlab language to get rid of be taught! Please! Can add WeChat communication alone! Thank you ah
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