模拟移动机器人控制（一）

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MATLAB模拟移动机器人控制

clc;close all;clear;
PI = [3;7;0]%PI = [xi;yi;ci]
PT = [120;81;pi/2]%PT = [xt;yt;ct]
VW = [5;pi/12]%VW = [v;w]
P = PI; %P = [x;y;c]
[xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
D = ((x-xt).^2+(y-yt).^2).^0.5;
i = 1;
L(:,i) = P;
while (D>v)
C = atan((yt-y)*(xt-x).^(-1));
while(c>(C+0.5*w)||c<(C-0.5*w))
if (c>C)
n = -1;
else
n = 1;
end
T = [0 0;0 0;0 n];
P = P+T*VW;
[xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
end
i = i+1;
L(:,i) = P;
T = [cos(c) 0;sin(c) 0;0 0];
P = P+T*VW;
[xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
D = ((x-xt).^2+(y-yt).^2).^0.5;
end
while(c>(ct+0.5*w)||c<(ct-0.5*w))
if (c>ct)
n = -1;
else
n = 1;
end
T = [0 0;0 0;0 n];
P = P+T*VW;
[xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
end
i = i+1;
L(:,i) = P
hold
plot(L(1,:),L(2,:),'ro')
plot(L(1,:),L(2,:))


function [xi,yi,ci,xt,yt,ct,x,y,c,v,w]=df(PI,PT,P,VW)
xi = PI(1,1);
yi = PI(2,1);
ci = PI(3,1);
xt = PT(1,1);
yt = PT(2,1);
ct = PT(3,1);
x = P(1,1);
y = P(2,1);
c = P(3,1);
v = VW(1,1);
w = VW(2,1);


PI =

4
8
0

PT =

120.0000
81.0000
1.5708

VW =

5.0000
0.2618

L =

Columns 1 through 9

4.0000    4.0000    8.3301   12.6603   16.9904   21.3205   25.6506   29.9808   34.3109
8.0000    8.0000   10.5000   13.0000   15.5000   18.0000   20.5000   23.0000   25.5000
0    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236

Columns 10 through 18

38.6410   42.9711   47.3013   51.6314   55.9615   60.2917   64.6218   68.9519   73.2820
28.0000   30.5000   33.0000   35.5000   38.0000   40.5000   43.0000   45.5000   48.0000
0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236

Columns 19 through 27

77.6122   81.9423   86.2724   90.6025   94.1381   98.4682  102.0037  106.3339  109.8694
50.5000   53.0000   55.5000   58.0000   61.5355   64.0355   67.5711   70.0711   73.6066
0.5236    0.5236    0.5236    0.7854    0.5236    0.7854    0.5236    0.7854    0.5236

Columns 28 through 29

114.1995  117.7351
76.1066   79.6421
0.7854    1.5708

0
0

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