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20 lines
337 B
20 lines
337 B
xg = [5 5]; % goal position
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clf
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axis([0 10 0 10]);
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hold on
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xyzlabel
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grid on
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xc = 5; yc = 5;
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N = 8;
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radius = 3;
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for i=1:N
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th = (i-1)*2*pi/N;
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x0 = [xc+radius*cos(th) yc+radius*sin(th) th+pi/2];
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plot_vehicle(x0, 'r');
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r = sim('sl_drivepoint');
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y = r.find('yout');
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plot(y(:,1), y(:,2));
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end
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plot(xg(1), xg(2), '*')
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