人工势场法路径规划是由Khatib提出的一种虚拟力法(Oussama Khatib,Real-Time obstacle Avoidance for Manipulators and Mobile Robots. Proc of The 1994 IEEE.)。它的基本思想是将机器人在周围环境中的运动,设计成一种抽象的人造引力场中的运动,目标点对移动机器人产生“引力”,障碍物对移动机器人产生“斥力”,最后通过求合力来控制移动机器人的运动。应用势场法规划出来的路径一般是比较平滑并且安全,但是这种方法存在局部最优点问题。
Matlab code of Bayesian CP Factorization for Tensor Completion(Written by Qibin Zhao 2014)To run the code:1. Change Matlab work directory to "/BCPF_Toolbox_QZhao/".2. Run "loadpah" code to add the current folder and subfolders into Matlab path searching list.3. Open and run the demo files. We provide two demo codes:I. DemoBayesCP.m: Demonstration on synthesic dataII. DemoBayesCP_Image.m Demonstration for image completionThe package includes four algorithms:1. BCPF.m BCPF for fully observed tensor2. BCPF_TC.m BCPF for incomplete tensor 3. BCPF_IC.m BCPF for image completion4. BCPF_MP.m BCPF using mixture priors for image completionIn this package, we used the tensor toolbox 2.5, which is downloaded from (http://www.sandia.gov/~tgkolda/TensorToolbox)The tools for visualization of tensor with voxels is from Tensorlab (http://www.tensorlab.net/)