목록kinematics (1)

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WMR mobile robot kinematics with sinusoidal wd

% WMR mobile robot kinematics with sinusoidal wd clear; clf; r = 0.05;L = 0.3;T= 0.1;TT= 5;N =TT/T; x(1)=0; y(1)=0; phi(1)=pi/4; vd = 0.5; for k = 1:1:N % Inputs wd(k) = 0; %wd(k) = 2*pi*cos(2*pi*1*k*T); Wr(k)=1/r*vd+wd(k)*L/(2*r); Wl(k)=1/r*vd-wd(k)*L/(2*r); % Kinematics phi(k+1) = phi(k) + T*(Wr(k)-Wl(k))*r/L; x(k+1) = x(k) + T/2*(Wr(k)+Wl(k))*r*cos(phi(k)); y(k+1) = y(k) + T/2*(Wr(k)+Wl(k))*r..
공학/Matlab 2023. 3. 17. 09:39
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