propagateWhileValid

Propagate system and return valid motion

Since R2021b

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    Syntax

    [q,u,steps] = propagateWhileValid(mobileProp,q0,u0,qTgt,maxSteps)

    Description

    [q,u,steps] = propagateWhileValid(mobileProp,q0,u0,qTgt,maxSteps) iteratively propagates the system from the current state q0 towards a target state qTgt with an initial control input u0 for a maximum number of steps maxSteps.

    At the end of each propagation step i, the system returns these values:

    • q(i,:) — Current state of the system

    • u(i,:) — Control input for step i + 1

    • steps(i) — Number of steps between i - 1 and i

    The function validates all propagations and returns system information between q0 and the last valid state.

    example

    Examples

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    Open Live Script

    Load a ternary map matrix and create an occupancyMap object. Create the state propagator using the map.

    load("exampleMaps","ternaryMap")
map = occupancyMap(ternaryMap,10);
propagator = mobileRobotPropagator(Environment=map);

    Set the state bounds on the state space based on the map world limits.

    propagator.StateSpace.StateBounds(1:2,:) = [map.XWorldLimits; 
                                            map.YWorldLimits];

    Specify the start and goal states.

    start = [10 15 0];
goal  = [40 30 0];

    Specify the initial control and maximum number of steps.

    u0 = [0.2 -0.2];
maxSteps = 2000;

    Propagate the state of the robot without validation.

    [q1,u1,steps1] = propagate(propagator,start,u0,goal,maxSteps);

    Visualize the results.

    figure
show(map)
hold on
plot(start(1),start(2),"rx")
plot(goal(1),goal(2),"go")
plot(q1(:,1),q1(:,2),"m")
hold off

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 4 objects of type image, line. One or more of the lines displays its values using only markers

    Propagate the state of the robot and return valid motion.

    [q2,u2,steps2] = propagateWhileValid(propagator,start,u0,goal,maxSteps);

    Visualize the results.

    figure
show(map)
hold on
plot(start(1),start(2),"rx")
plot(goal(1),goal(2),"go")
plot(q2(:,1),q2(:,2),"m")
hold off

    Figure contains an axes object. The axes object with title Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 4 objects of type image, line. One or more of the lines displays its values using only markers

    Input Arguments

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    Mobile robot state propagator, specified as a mobileRobotPropagator object.

    Initial state of the system, specified as an s-element vector. s is the number of state variables in the state space.

    Initial control on the initial state, specified as an c-element vector. c is the number of control inputs.

    Target state of the system, specified as an s-element vector. s is the number of state variables in the state space.

    Maximum number of steps, specified as a positive scalar.

    Output Arguments

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    Propagated states of the system, returned as an s-element vector. s is the number of state variables in the state space.

    Control inputs for propagating states, returned as an n-by-c matrix. c is the number of control inputs

    Number of steps from each state and control input to next, returned as an n-element vector of positive integers.

    Version History

    Introduced in R2021b

    See Also

    Objects

    Functions