模擬移動機器人控制（一）

MATLAB模擬移動機器人控制

程序：

clc;close all;clear;
PI = [3;7;0]%PI = [xi;yi;ci]
PT = [120;81;pi/2]%PT = [xt;yt;ct]
VW = [5;pi/12]%VW = [v;w]
P = PI; %P = [x;y;c]
[xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
D = ((x-xt).^2+(y-yt).^2).^0.5;
i = 1;
L(:,i) = P;
while (D>v)
    C = atan((yt-y)*(xt-x).^(-1));
    while(c>(C+0.5*w)||c<(C-0.5*w))
        if (c>C)
            n = -1;
        else
            n = 1;
        end
        T = [0 0;0 0;0 n];
        P = P+T*VW;
        [xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
    end
    i = i+1;
    L(:,i) = P;
    T = [cos(c) 0;sin(c) 0;0 0];
    P = P+T*VW;
    [xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
    D = ((x-xt).^2+(y-yt).^2).^0.5;
end
while(c>(ct+0.5*w)||c<(ct-0.5*w))
     if (c>ct)
        n = -1;
    else
        n = 1;
    end
    T = [0 0;0 0;0 n];
    P = P+T*VW;
    [xi,yi,ci,xt,yt,ct,x,y,c,v,w] = df(PI,PT,P,VW);
end
i = i+1;
L(:,i) = P
hold
plot(L(1,:),L(2,:),'ro')
plot(L(1,:),L(2,:))    

調用函數df：

function [xi,yi,ci,xt,yt,ct,x,y,c,v,w]=df(PI,PT,P,VW)
xi = PI(1,1);
yi = PI(2,1);
ci = PI(3,1);
xt = PT(1,1);
yt = PT(2,1);
ct = PT(3,1);
x = P(1,1);
y = P(2,1);
c = P(3,1);
v = VW(1,1);
w = VW(2,1);

模擬移動步驟和軌跡：
PI =


     4
     8
     0




PT =


  120.0000
   81.0000
    1.5708




VW =


    5.0000
    0.2618




L =


  Columns 1 through 9


    4.0000    4.0000    8.3301   12.6603   16.9904   21.3205   25.6506   29.9808   34.3109
    8.0000    8.0000   10.5000   13.0000   15.5000   18.0000   20.5000   23.0000   25.5000
         0    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236


  Columns 10 through 18


   38.6410   42.9711   47.3013   51.6314   55.9615   60.2917   64.6218   68.9519   73.2820
   28.0000   30.5000   33.0000   35.5000   38.0000   40.5000   43.0000   45.5000   48.0000
    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236    0.5236


  Columns 19 through 27


   77.6122   81.9423   86.2724   90.6025   94.1381   98.4682  102.0037  106.3339  109.8694
   50.5000   53.0000   55.5000   58.0000   61.5355   64.0355   67.5711   70.0711   73.6066
    0.5236    0.5236    0.5236    0.7854    0.5236    0.7854    0.5236    0.7854    0.5236


  Columns 28 through 29


  114.1995  117.7351
   76.1066   79.6421
    0.7854    1.5708