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# />I am not sure how to do this? I have been using the following code to do it:r=50;angle=-3*pi/4;x_0=r*cos(angle);y_0=r*sin(angle);theta_0=0;X0=[x_0,y_0,theta_0];[t,y]=ode45(@def_robot,[0 20],X0);x1=y(:,1);y1=y(:,2);plot(x1,y1);hold onplot(x1(1),y1(1),'rx'); %plot the inital position of the robot as a red xhold onplot(x1(length(t)),y1(length(t)),'bo'); %plot the end position of robot as a blue ohold offWhat changes do I need to make? Attachment 1 Attachment 2 ATTACHMENT PREVIEW Download attachment Screen Shot 2019-09-21 at 10.01.47 PM.png For a differential drive mobile robot as shown in the picture, program in Matlab to simulate the paths shown in Figure 3.20 of the Textbook, where the robot is initially on a circle in the xy plane. All movements should have smooth trajectories toward the goal in the center. Verify the control parameters given in equation (3.59) of the Textbook, or give the parameters that you use to generate similar traj ectories. ATTACHMENT PREVIEW Download attachment Screen Shot 2019-09-21 at 10.02.33 PM.png Robot trajectory 50 40 30 20 10 Y [mm] -10 -20 -30- -40 -50- -60 -40 -20 O 20 X [mm] 40 60 50 Robot trajectory 40 30 20 10- Y [mm] of -10 -20 -30 -40- -50 -60 -40 -20 x 9mm] 20 40 60 Figure 3.20 Resulting paths when the robot is initially on the unit circle in the x,y plane.

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