模擬移動機器人控制（四）(修改)

解決了大於360°時機器人無限調整角度的問題；

clc;close all;clear

hold on
axis([0,200,0,200]);
t= 0.01;
[X,Y] = ginput(1);
C= pi/2;
P= [X,Y,C];
L= 4;
V= 4;
Pl=[X-L/2,Y];
Pr=[X+L/2,Y];
plot((Pl(1)+Pr(1))/2,(Pl(2)+Pr(2))/2,'*');
plot(Pl(1),Pl(2),'o');
plot(Pr(1),Pr(2),'o');
text(150,180,{strcat('P= ',num2str((Pl(1)+Pr(1))/2),', ',num2str((Pl(2)+Pr(2))/2))});
pause(t);

while(1)
    [Xt,Yt] = ginput(1);  %在figure上用鼠標抓取數據，1表示抓取一次
    PT = [Xt;Yt];%PT = [xt;yt;ct]目標點
    plot(PT(1),PT(2),'r*','LineWidth',4);

    D= ((P(1)-PT(1)).^2+(P(2)-PT(2)).^2).^0.5;
    %((Pr(1)-Pl(1)).^2+(Pr(2)-Pl(2)).^2).^0.5
    
    while (D>V)%與目標點距離大於一個速度繼續移動
        if (PT(1)>=P(1)&&PT(2)>=P(2))
            if (PT(1)>=P(1)&&PT(2)>=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)>=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)<=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)>=P(1)&&PT(2)<=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度   
            end
        elseif(PT(1)<=P(1)&&PT(2)>=P(2))
            if (PT(1)>=P(1)&&PT(2)>=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)>=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)<=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)>=P(1)&&PT(2)<=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度      
            end
        elseif(PT(1)<=P(1)&&PT(2)<=P(2))
            if (PT(1)>=P(1)&&PT(2)>=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)>=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)<=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)>=P(1)&&PT(2)<=P(2))
                Ct = 2*Pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度      
            end
        elseif(PT(1)>=P(1)&&PT(2)<=P(2))
            if (PT(1)>=P(1)&&PT(2)>=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)>=P(2))
                Ct = pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)<=P(1)&&PT(2)<=P(2))
                Ct = -pi+atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度
            elseif(PT(1)>=P(1)&&PT(2)<=P(2))
                Ct = atan((PT(2)-P(2))*(PT(1)-P(1)).^(-1));%當前與目標點的角度      
            end
        end
        V= 0.1;
        w= 2*V/L;
    while(C>(Ct+0.5*w)||C<=(Ct-0.5*w))%角度調整
        if (C>Ct)
                n = -1;
        else
                n = 1;
        end
            Vl= -1*n*V;
            Vr= n*V;
            dsl= L*sin(0.5*abs(w));
            dsr= L*sin(0.5*abs(w));
            if (PT(1)>=P(1)&&PT(2)>=P(2))
                if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                    c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                    c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                end
            elseif (PT(1)<=P(1)&&PT(2)>=P(2))
                if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                    c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                    c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                end
            elseif (PT(1)<=P(1)&&PT(2)<=P(2))
                if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                    c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                    c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                end
            elseif (PT(1)>=P(1)&&PT(2)<=P(2))
                if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                    c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                    c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                    c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
                end
            end
            C= c+pi/2;
            Pl= Pl+[-1*n*dsl*cos(C+n*w/2),-1*n*dsl*sin(C+n*w/2)];
            Pr= Pr+[n*dsr*cos(C+n*w/2),n*dsr*sin(C+n*w/2)];
%            ((Pr(1)-Pl(1)).^2+(Pr(2)-Pl(2)).^2).^0.5
    
            clf;
            hold on
            axis([0,200,0,200]);
            text(150,180,{strcat('P= ',num2str((Pl(1)+Pr(1))/2),', ',num2str((Pl(2)+Pr(2))/2),', ','C= ',num2str(C/pi),'*pi'),
                          strcat('Vl= ',num2str(Vl),', ','Vr= ',num2str(Vr),', ','w= ',num2str(w)),
                          strcat('Ct= ',num2str(Ct/pi),'*pi')
                          });
    
            plot((Pl(1)+Pr(1))/2,(Pl(2)+Pr(2))/2,'*');
            plot(Pl(1),Pl(2),'o');
            plot(Pr(1),Pr(2),'o');
            plot(PT(1),PT(2),'r*','LineWidth',4);
            pause(t);    
            P= [(Pl(1)+Pr(1))/2,(Pl(2)+Pr(2))/2,C];
            D= ((P(1)-PT(1)).^2+(P(2)-PT(2)).^2).^0.5;
    end
        V= 4;
        Vl= V+(2*rand-1)*0.05*V;
        Vr= V+(2*rand-1)*0.05*V;
        w= (Vr-Vl)/L;
        Rl= abs(Vl/w);
        Rr= abs(Vr/w);
        dsl= 2*Rl*sin(0.5*abs(w));
        dsr= 2*Rr*sin(0.5*abs(w));
        if (PT(1)>=P(1)&&PT(2)>=P(2))
           if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           end
        elseif (PT(1)<=P(1)&&PT(2)>=P(2))
           if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                   c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           end
        elseif (PT(1)<=P(1)&&PT(2)<=P(2))
           if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                c = pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           end
        elseif (PT(1)>=P(1)&&PT(2)<=P(2))
           if (Pr(1)>=Pl(1)&&Pr(2)>=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)>=Pl(2))
                c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)<=Pl(1)&&Pr(2)<=Pl(2))
                c = -pi+atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           elseif(Pr(1)>=Pl(1)&&Pr(2)<=Pl(2))
                c = atan((Pr(2)-Pl(2))*(Pr(1)-Pl(1)).^(-1));
           end
        end
        C= c+pi/2;
        Pl= Pl+[dsl*cos(C+w/2),dsl*sin(C+w/2)];
        Pr= Pr+[dsr*cos(C+w/2),dsr*sin(C+w/2)];
    
        clf;
        hold on
        axis([0,200,0,200]);
        text(150,180,{strcat('P= ',num2str((Pl(1)+Pr(1))/2),', ',num2str((Pl(2)+Pr(2))/2),', ','C= ',num2str(C/pi),'*pi'),
                      strcat('Vl= ',num2str(Vl),', ','Vr= ',num2str(Vr),', ','w= ',num2str(w)),
                      strcat('Ct= ',num2str(Ct/pi),'*pi')
                      });
    
        plot((Pl(1)+Pr(1))/2,(Pl(2)+Pr(2))/2,'*');
        plot(Pl(1),Pl(2),'o');
        plot(Pr(1),Pr(2),'o');
        plot(PT(1),PT(2),'r*','LineWidth',4);
        pause(t);
        P= [(Pl(1)+Pr(1))/2,(Pl(2)+Pr(2))/2,C];
        D= ((P(1)-PT(1)).^2+(P(2)-PT(2)).^2).^0.5;
    end
end