View the step-by-step solution to:

Question

Screen Shot 2019-09-21 at 10.01.47 PM.png


/>

Screen Shot 2019-09-21 at 10.02.33 PM.png



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 on

plot(x1(1),y1(1),'rx'); %plot the inital position of the robot as a red x

hold on

plot(x1(length(t)),y1(length(t)),'bo'); %plot the end position of robot as a blue o

hold off


What changes do I need to make?

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.

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.

Recently Asked Questions

Why Join Course Hero?

Course Hero has all the homework and study help you need to succeed! We’ve got course-specific notes, study guides, and practice tests along with expert tutors.

-

Educational Resources
  • -

    Study Documents

    Find the best study resources around, tagged to your specific courses. Share your own to gain free Course Hero access.

    Browse Documents
  • -

    Question & Answers

    Get one-on-one homework help from our expert tutors—available online 24/7. Ask your own questions or browse existing Q&A threads. Satisfaction guaranteed!

    Ask a Question
Ask Expert Tutors You can ask 0 bonus questions You can ask 0 questions (0 expire soon) You can ask 0 questions (will expire )
Answers in as fast as 15 minutes