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46 lines
1.5 KiB
46 lines
1.5 KiB
% Copyright (C) 1993-2013, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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%%begin
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% We will show how to make a mobile robot with "car-like" steering drive from
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% one pose to another.
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% The goal pose is
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xg = [5 5 pi/2];
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% and the starting pose is
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x0 = [5 9 0]
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% We use a Simulink model to represent the dynamics of the vehicle and to
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% implement a pose controller
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sl_drivepose
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% We run the simulation
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r = sim('sl_drivepose');
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% and extract the trajectory of the robot
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y = r.find('yout');
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% which we plot
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axis([0 10 0 10]); hold on; grid on
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plot(y(:,1), y(:,2));
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% and overlay the initial and final pose of the robot
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plot_vehicle(x0, 'r'); plot_vehicle(xg, 'r');
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% Note the complex path the robot had to follow, since it's motion is limited
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% by the nature of the steering mechanism.
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