基于Qlearning强化学习的机器人路线规划仿真

1.算法概述

假设我们的行为准则已经学习好了, 现在我们处于状态s1, 我在写作业, 我有两个行为 a1, a2, 分别是看电视和写作业, 根据我的经验, 在这种 s1 状态下, a2 写作业带来的潜在奖励要比 a1 看电视高, 这里的潜在奖励我们可以用一个有关于 s 和 a 的 Q 表格代替, 在我的记忆Q表格中, Q(s1, a1)=-2 要小于 Q(s1, a2)=1, 所以我们判断要选择 a2 作为下一个行为. 现在我们的状态更新成 s2 , 我们还是有两个同样的选择, 重复上面的过程, 在行为准则Q 表中寻找 Q(s2, a1) Q(s2, a2) 的值, 并比较他们的大小, 选取较大的一个. 接着根据 a2 我们到达 s3 并在此重复上面的决策过程. Q learning 的方法也就是这样决策的. 看完决策, 我看在来研究一下这张行为准则 Q 表是通过什么样的方式更改, 提升的.

机器学习算法可以分为3种：有监督学习（Supervised Learning）、无监督学习（Unsupervised Learning）和强化学习（Reinforcement Learning），如下图所示：

有监督学习、无监督学习、强化学习具有不同的特点：

有监督学习是有一个label（标记）的，这个label告诉算法什么样的输入对应着什么样的输出，常见的算法是分类、回归等；

无监督学习则是没有label（标记），常见的算法是聚类；

强化学习强调如何基于环境而行动，以取得最大化的预期利益。

主要学习内容：

强化学习是什么，奖励思想。

强化学习的三种途径。

深度强化学习的“深”是什么意思

Q-Learning的QTable标签更新公式：

Q-Learning的计算步骤:

1.判断在当前位置可以有几种操作；

2.根据当前位置允许的操作选择一个操作；

3.根据选择的操作进行奖赏；

4.修改当前行为的本次操作权重；

2.仿真效果预览

matlab2022a仿真结果如下：

3.核心MATLAB代码预览

function varargout =PathPlanning(varargin)

% 移动机器人路径规划仿真平台接口：仿真平台提供了机器人工作环境的仿真界面，利用inf=load('inf'),sp=inf.StartPoint,

% EP=inf.EndPoint,WS=inf.env得到机器人工作环境的出发点、目标点位置及障碍物位置信息，工作空间边界及障碍物区域设置为1，自由空间

%设置为0。

gui_Singleton = 1;

gui_State = struct('gui_Name', mfilename, ...

'gui_Singleton', gui_Singleton, ...

'gui_OpeningFcn', @Simulation_OpeningFcn, ...

'gui_OutputFcn', @Simulation_OutputFcn, ...

'gui_LayoutFcn', [] , ...

'gui_Callback', []);

if nargin && ischar(varargin{1})

gui_State.gui_Callback = str2func(varargin{1});

end

if nargout

[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});

else

gui_mainfcn(gui_State, varargin{:});

end

% End initialization code - DO NOT EDIT

% --- Executes just before GridSimulation is made visible.

function Simulation_OpeningFcn(hObject, eventdata, handles, varargin)

% This function has no output args, see OutputFcn.

% hObject handle to figure

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% varargin command line arguments to GridSimulation (see VARARGIN)

% Choose default command line output for GridSimulation

handles.output = hObject;

% Update handles structure

guidata(hObject, handles);

% UIWAIT makes GridSimulation wait for user response (see UIRESUME)

% uiwait(handles.mainfig);

%cd D:\Simulation\EvolvingPath\path

cla

grid on

xlabel('X'); ylabel('Y');

%初始化，获取各对象句柄

handles.StartPoint=findobj('tag','StartPoint'); %获取“设置开始点”按钮句柄

handles.EndPoint=findobj('tag','EndPoint'); %获取“设置目标点”按钮句柄

handles.Obstacle=findobj('tag','Obstacle'); %获取“设置障碍物”按钮句柄

handles.Start=findobj('tag','Start'); %获取“开始运行”按钮句柄

handles.OldEnv=findobj('tag','OldEnv'); %获取“还原环境”按钮句柄

handles.MainAxes=findobj('tag','MainAxes'); %获取主坐标句柄

handles.MainFigure=findobj('tag','MainFigure'); %获取主窗口句柄

%初始化，设置各按钮显示状态

set(handles.StartPoint,'Enable','on') %“设置开始点”按钮可用

set(handles.EndPoint,'Enable','off') %“设置目标点”按钮禁用

set(handles.Obstacle,'Enable','off') %“设置障碍物”按钮禁用

set(handles.Start,'Enable','off') %“开始运行”按钮禁用

set(handles.OldEnv,'Enable','off') %“还原环境”按钮可用

set(handles.MainFigure,'WindowButtonDownFcn',''); %

set(handles.MainFigure,'WindowButtonUpFcn',''); %

set(handles.MainAxes,'ButtonDownFcn',''); %

inf=load('inf'); %打开环境信息文件，inf.mat由save命令创建，存储了开始点、目标点、障碍物信息等

XLim=20; %x轴最大取值

YLim=20; %y轴最大取值

BreakTask=0; %初始化终止任务变量

for i=1:XLim %将边界设置成障碍物

for j=1:YLim

if ((i==1)|(i==XLim)|(j==1)|(j==YLim))

ws(i,j)=1;

end

save('inf','ws','-append');

save('inf','BreakTask','-append');

% --- Outputs from this function are returned to the command line.

function varargout = Simulation_OutputFcn(hObject, eventdata, handles)

% varargout cell array for returning output args (see VARARGOUT);

% hObject handle to figure

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure

varargout{1} = handles.output;

% --- Executes on button press in StartPoint.

function StartPoint_Callback(hObject, eventdata, handles)

% hObject handle to StartPoint (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

set(handles.StartPoint,'Enable','off')

set(handles.EndPoint,'Enable','on')

set(handles.Obstacle,'Enable','off')

set(handles.Start,'Enable','off')

flag=0;

save('inf','flag','-append');

set(handles.MainFigure,'WindowButtonDownFcn','');

set(handles.MainFigure,'WindowButtonUpFcn','');

set(handles.MainAxes,'ButtonDownFcn','PathPlanning(''MainAxes_ButtonDownFcn'',gcbo,[],guidata(gcbo))');

% --- Executes on button press in EndPoint.

function EndPoint_Callback(hObject, eventdata, handles)

% hObject handle to EndPoint (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

set(handles.StartPoint,'Enable','off')

set(handles.EndPoint,'Enable','off')

set(handles.Obstacle,'Enable','on')

set(handles.Start,'Enable','on')

flag=1;

save('inf','flag','-append');

%set(handles.MainFigure,'WindowButtonDownFcn','');

%set(handles.MainFigure,'WindowButtonUpFcn','');

set(handles.MainAxes,'ButtonDownFcn','PathPlanning(''MainAxes_ButtonDownFcn'',gcbo,[],guidata(gcbo))');

% --- Executes on mouse press over axes background.

function MainAxes_ButtonDownFcn(hObject, eventdata, handles)

% hObject handle to MainAxes (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

inf=load('inf');

flag=inf.flag;

start_end=inf.start_end;

p=get(handles.MainAxes,'CurrentPoint');

hold on;

if(flag==0)

p=round(p);

start_end(1,1)=p(1,1);start_end(1,2)=p(1,2); %记录起点信息，给inf.mat文件赋值

StartPoint(1,1)=p(1,1);StartPoint(1,2)=p(1,2); %为当前点赋值，当前点为起点的位置信息

save('inf','StartPoint','-append');

HRobot=plot(start_end(1,1),start_end(1,2),'pentagram'); %画开始点位置

text(start_end(1,1)-.5,start_end(1,2)-.5,'Start');

RobotDirection=inf.RobotDirection;%机器人方向应该是传递参数

x=start_end(1,1);

y=start_end(1,2);

RobotPosX=x;

RobotPosY=y;

save('inf','RobotPosX','-append');

save('inf','RobotPosY','-append');

else

p=round(p);

start_end(2,1)=p(1,1);start_end(2,2)=p(1,2);

EndPoint(1,1)=p(1,1);EndPoint(1,2)=p(1,2); %为当前点赋值，当前点为结束点的位置信息

EndPoint=round(EndPoint);

save('inf','EndPoint','-append');

plot(start_end(2,1),start_end(2,2),'*','color','r')

text(start_end(2,1)-.5,start_end(2,2)+.5,'Goal');

end

save('inf','start_end','-append');

set(handles.MainAxes,'ButtonDownFcn','');

% --- Executes on button press in Obstacle.

function Obstacle_Callback(hObject, eventdata, handles)

% hObject handle to Obstacle (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

env=zeros(50);

save('inf','env','-append');

set(handles.StartPoint,'Enable','off')

set(handles.EndPoint,'Enable','off')

set(handles.Obstacle,'Enable','on')

set(handles.Start,'Enable','on')

set(handles.OldEnv,'Enable','on') %“开始运行”按钮禁用

set(handles.MainFigure,'WindowButtonDownFcn','PathPlanning(''MainFigure_WindowButtonDownFcn'',gcbo,[],guidata(gcbo))');

%set(handles.MainFigure,'WindowButtonUpFcn','PathPlanning(''MainFigure_WindowButtonUpFcn'',gcbo,[],guidata(gcbo))');

function MainFigure_WindowButtonDownFcn(hObject, eventdata, handles)

% hObject handle to MainFigure (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

inf=load('inf');

ws=inf.env;

Pos=get(handles.MainAxes,'CurrentPoint');

Pos=round(Pos);

XPos=Pos(1,1);YPos=Pos(1,2); %当前点坐标

X=[XPos-.5,XPos-.5,XPos+.5,XPos+.5];

Y=[YPos-.5,YPos+.5,YPos+.5,YPos-.5];

fill(X,Y,[0 0 0]) %画障碍物

text(13-.2,12,'B','color',[1 1 1]);

text(7-.2,8,'A','color',[1 1 1]);

% for i=XPos-1:XPos+1

% for j=YPos-1:YPos+1

% if((i>0)&(i<=XLim)) %防止出现环境矩阵元素下标为零

% if((j>0)&(j<=YLim))

ws(XPos,YPos)=1;

% end

%end

env=ws;

save('inf','env','-append');

% --- Executes on button press in SensorChecked.

function SensorChecked_Callback(hObject, eventdata, handles)

% hObject handle to SensorChecked (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of SensorChecked

function RobotVelocity_Callback(hObject, eventdata, handles) %设置机器人运行速度

% hObject handle to RobotVelocity (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotVelocity as text

% str2double(get(hObject,'String')) returns contents of RobotVelocity as a double

function RobotRadius_Callback(hObject, eventdata, handles) %设置机器人半径

% hObject handle to RobotRadius (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotRadius as text

% str2double(get(hObject,'String')) returns contents of RobotRadius as a double

% --- Executes during object creation, after setting all properties.

function SensorMaxValue_Callback(hObject, eventdata, handles) %设置传感器测量范围

% hObject handle to SensorMaxValue (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of SensorMaxValue as text

% str2double(get(hObject,'String')) returns contents of SensorMaxValue as a double

function Handbook_Callback(hObject, eventdata, handles) %系统简介

% hObject handle to Handbook (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

uiopen('系统简介.txt',1)

function ClearScreen_Callback(hObject, eventdata, handles) %重新开始

% hObject handle to ClearScreen (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

set(handles.StartPoint,'Enable','on') %“设置开始点”按钮可用

set(handles.EndPoint,'Enable','off') %“设置目标点”按钮禁用

set(handles.Obstacle,'Enable','off') %“设置障碍物”按钮禁用

set(handles.Start,'Enable','off') %“开始运行”按钮禁用

cla

clear all

% --- Executes on button press in OldEnv.

function OldEnv_Callback(hObject, eventdata, handles)

% hObject handle to OldEnv (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

XLim=20; %x轴最大取值

YLim=20; %y轴最大取值

inf=load('inf');

ws=inf.env; %得到障碍物信息

SP=inf.StartPoint; %出发点位置

EP=inf.EndPoint; %目标点位置

set(handles.StartPoint,'Enable','off')

set(handles.EndPoint,'Enable','off')

set(handles.Obstacle,'Enable','off')

set(handles.Start,'Enable','on')

HandleStart=line([SP(1,1) SP(1,1)],[SP(1,2) SP(1,2)]); %设置开始点

text(SP(1,1)-.5,SP(1,2)-.5,'Start');

HandleTarget=line([EP(1,1) EP(1,1)],[EP(1,2) EP(1,2)]); %设置目标点

text(EP(1,1)-.5,EP(1,2)+.5,'Goal');

set(HandleStart,'marker','pentagram')

set(HandleTarget,'marker','*','color','r')

for i=1:XLim %将边界设置成障碍物

for j=1:YLim

if ((i==1)|(i==XLim)|(j==1)|(j==YLim))

ws(i,j)=1;

end

for i=2:XLim-1 %还原障碍物信息

for j=2:YLim-1

if((ws(i,j)==1))

X=[i-.5,i-.5,i+.5,i+.5];

Y=[j-.5,j+.5,j+.5,j-.5];

fill(X,Y,[0 0 0]); %设置障碍物

end

X=[1-.5,1-.5,1+.5,1+.5];

Y=[6-.5,6+.5,6+.5,6-.5];

fill(X,Y,[0 0 0]); %设置障碍物

X=[1-.5,1-.5,1+.5,1+.5];

Y=[14-.5,14+.5,14+.5,14-.5];

fill(X,Y,[0 0 0]); %设置障碍物

X=[10-.5,10-.5,10+.5,10+.5];

Y=[1-.5,1+.5,1+.5,1-.5];

fill(X,Y,[0 0 0]); %设置障碍物

text(13-.2,12,'B','color',[1 1 1]);

text(7-.2,8,'A','color',[1 1 1]);

X=[0,0,.5,.5];

Y=[0,YLim,YLim,0];

fill(X,Y,[0 0 0]); %设置边界为障碍物

X=[XLim-.5,XLim-.5,XLim,XLim];

Y=[0,YLim,YLim,0];

fill(X,Y,[0 0 0]); %设置边界为障碍物

X=[0,0,XLim,XLim];

Y=[YLim-.5,YLim,YLim,YLim-.5];

fill(X,Y,[0 0 0]); %设置边界为障碍物

X=[0,0,XLim,XLim];

Y=[0,.5,.5,0];

fill(X,Y,[0 0 0]); %设置边界为障碍物

%axis([0 20 0 20])

%机器人当前位置设置为开始位置

RobotPosX=SP(1,1);

RobotPosY=SP(1,2);

save('inf','RobotPosX','-append');

save('inf','RobotPosY','-append');

function RobotSingleLength_Callback(hObject, eventdata, handles) %设置单步运行距离

% hObject handle to RobotSingleLength (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotSingleLength as text

% str2double(get(hObject,'String')) returns contents of RobotSingleLength as a double

function BreakTask_Callback(hObject, eventdata, handles)

% hObject handle to BreakTask (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

BreakTask=1;

inf=load('inf');

save('inf','BreakTask','-append');

function SaveAs_Callback(hObject, eventdata, handles)

% hObject handle to SaveAs (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

%saveas(hObject,'g.bmp');

%print(gcf, '-depsc','-tiff','-r600','test.eps')

%saveas(gcf, 'test.eps', 'psc2')

%pause

axes(handles.MainAxes); %取得axes１的句柄

if isempty(handles.MainAxes)

return;

end

newFig = figure;%由于直接保存axes1上的图像有困难，所以保存在新建的figure中的谱图

set(newFig,'Visible','off','color',[1,1,1])%设置新建的figure为不可见

newAxes = copyobj(handles.MainAxes,newFig); %将axes1中的图复制到新建的figure中

set(newAxes,'Units','default','Position','default'); % 设置图显示的位置

[filename,pathname] = uiputfile({ '*.tif','figure type(*.tif)'}, '结果另存为');

if isequal(filename,0)||isequal(pathname,0)%如果用户选择“取消”，则退出

return;

else

fpath=fullfile(pathname,filename);

end

f = getframe(newFig);

f = frame2im(f);

imwrite(f, fpath);

%saveas(newFig,'filename.eps')

%close(newFig)

%移动机器人路径规划仿真平台程序 END END END END END END END END END END END END END END END END END END END

% --------------------------------------------------------------------

function MainFigure_WindowButtonMotionFcn(hObject, eventdata, handles)

% hObject handle to MainFigure (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

%h=get(handles.MainFigure,'SelectionType')

function RobotRadius_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotRadius (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function mainfig_CreateFcn(hObject, eventdata, handles)

% hObject handle to mainfig (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% --- Executes during object creation, after setting all properties.

function MainFigure_CreateFcn(hObject, eventdata, handles)

% hObject handle to MainFigure (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% --- Executes on button press in Start.

% --- Executes during object creation, after setting all properties.

function RobotSingleLength_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotSingleLength (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --- Executes during object creation, after setting all properties.

function SensorMaxValue_CreateFcn(hObject, eventdata, handles)

% hObject handle to SensorMaxValue (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --- Executes during object creation, after setting all properties.

function RobotVelocity_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotVelocity (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor1Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor1Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor1Length as text

% str2double(get(hObject,'String')) returns contents of Sensor1Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor1Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor1Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor2Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor2Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor2Length as text

% str2double(get(hObject,'String')) returns contents of Sensor2Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor2Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor2Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor3Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor3Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor3Length as text

% str2double(get(hObject,'String')) returns contents of Sensor3Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor3Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor3Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor4Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor4Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor4Length as text

% str2double(get(hObject,'String')) returns contents of Sensor4Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor4Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor4Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor5Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor5Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor5Length as text

% str2double(get(hObject,'String')) returns contents of Sensor5Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor5Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor5Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor6Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor6Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor6Length as text

% str2double(get(hObject,'String')) returns contents of Sensor6Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor6Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor6Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor7Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor7Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor7Length as text

% str2double(get(hObject,'String')) returns contents of Sensor7Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor7Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor7Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function Sensor8Length_Callback(hObject, eventdata, handles)

% hObject handle to Sensor8Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Sensor8Length as text

% str2double(get(hObject,'String')) returns contents of Sensor8Length as a double

% --- Executes during object creation, after setting all properties.

function Sensor8Length_CreateFcn(hObject, eventdata, handles)

% hObject handle to Sensor8Length (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --------------------------------------------------------------------

function RobotPosX_Callback(hObject, eventdata, handles)

% hObject handle to RobotPosX (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotPosX as text

% str2double(get(hObject,'String')) returns contents of RobotPosX as a double

% --- Executes during object creation, after setting all properties.

function RobotPosX_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotPosX (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function RobotPosY_Callback(hObject, eventdata, handles)

% hObject handle to RobotPosY (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotPosY as text

% str2double(get(hObject,'String')) returns contents of RobotPosY as a double

% --- Executes during object creation, after setting all properties.

function RobotPosY_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotPosY (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --- Executes on selection change in popupmenu6.

function popupmenu6_Callback(hObject, eventdata, handles)

% hObject handle to popupmenu6 (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns popupmenu6 contents as cell array

% contents{get(hObject,'Value')} returns selected item from popupmenu6

% --- Executes during object creation, after setting all properties.

function popupmenu6_CreateFcn(hObject, eventdata, handles)

% hObject handle to popupmenu6 (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: popupmenu controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

function RobotDirection_Callback(hObject, eventdata, handles)

% hObject handle to RobotDirection (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of RobotDirection as text

% str2double(get(hObject,'String')) returns contents of RobotDirection as a double

% --- Executes during object creation, after setting all properties.

function RobotDirection_CreateFcn(hObject, eventdata, handles)

% hObject handle to RobotDirection (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --- Executes on button press in Start.

function Start_Callback(hObject, eventdata, handles)

% hObject handle to Start (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% --- Executes on selection change in Tasklistbox.

function Tasklistbox_Callback(hObject, eventdata, handles)

% hObject handle to Tasklistbox (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns Tasklistbox contents as cell array

% contents{get(hObject,'Value')} returns selected item from Tasklistbox

% --- Executes during object creation, after setting all properties.

function Tasklistbox_CreateFcn(hObject, eventdata, handles)

% hObject handle to Tasklistbox (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: listbox controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

% --- Executes on selection change in AlgorithmListBox.

function AlgorithmListBox_Callback(hObject, eventdata, handles)

% hObject handle to AlgorithmListBox (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns AlgorithmListBox contents as cell array

% contents{get(hObject,'Value')} returns selected item from AlgorithmListBox

% --- Executes during object creation, after setting all properties.

function AlgorithmListBox_CreateFcn(hObject, eventdata, handles)

% hObject handle to AlgorithmListBox (see GCBO)

% eventdata reserved - to be defined in a future version of MATLAB

% handles empty - handles not created until after all CreateFcns called

% Hint: listbox controls usually have a white background on Windows.

% See ISPC and COMPUTER.

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

A_006

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