How can I make the trajectory of robot with distance and angle values.

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ABdanyia 2020-3-4

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评论： ABdanyia 2020-4-2

Hi,

I am confusing like how to make the trajectory of my robot when I have just the distance values and angles values. It means that robot start from let suppose position zero and it travel 10 inches after that it turn 25 degree and then move 4 inches and then turn 25 degree. I have this data and I am struggling in plotting the trajectory. If any one help me in this regards is very kind of him.

Thank you

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ABdanyia 2020-3-4

在 MATLAB Online 中打开

Hi,

Thank you for reply, So this is my distance values variable "path".

path=[0 25 45 34 12 22 13 17 48 99];

I roughly made the sketch of how it looks like

ABdanyia 2020-4-1

在 MATLAB Online 中打开

As darova helped mw with this code, so the thing i want to solved but i am unable to, the problem is the red mark which

I did is not right, the previous turn is fine because of 26 degree turn, but the other turn which i marked should not be there rather the line should move straight after 26 degree turn Can any one help me with it.

clc,clear
path=[800,50,30];
turn=[1,-1,1].*(1:length(path))
%q=(1:length(path));
angle = 26*turn;
x2 = path.*cosd(angle);
y2 = path.*sind(angle);
x = cumsum(x2);
y = cumsum(y2);
t = cumsum(path);
t1 = linspace(0,t(end),100);
x1 = interp1(t,x,t1);
y1 = interp1(t,y,t1);
plot(x,y,'or')
axis([min(x1) max(x1) min(y1) max(y1)])
hold on
for i = 1:length(x1)-1
    plot(x1(i:i+1),y1(i:i+1),'.-b')
    pause(0.1)
end
hold off

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darova 2020-3-4

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在 MATLAB Online 中打开

I maded simple example for you

L1 = 5;
L2 = 3;
L3 = 4;
t1 = linspace(30,120,20)';
t2 = linspace(10,90,20)';
t3 = linspace(60,0,20)';
x1 = L1*cosd(t1);
y1 = L1*sind(t1);
x2 = x1 + L2*cosd(t2);
y2 = y1 + L2*sind(t2);
x3 = x2 + L3*cosd(t3);
y3 = y2 + L3*sind(t3);
for i = 1:length(t1)
    plot([0 x1(i) x2(i) x3(i)],[0 y1(i) y2(i) y3(i)],'.-b')
    axis([-1 1 -1 1]*10)
    pause(0.1)
end

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ABdanyia 2020-3-4

在 MATLAB Online 中打开

Here is this are function.

function X = are(A,B,C)
%ARE  Algebraic Riccati Equation solution.
%
%    X = ARE(A, B, C) returns the stablizing solution (if it
%    exists) to the continuous-time Riccati equation:
%
%           A'*X + X*A - X*B*X + C = 0
%
%    assuming B is symmetric and nonnegative definite and C is
%    symmetric.
%
%    See also  RIC, CARE, DARE.
%       M. Wette, ECE Dept., Univ. of California 5-11-87
%       Revised 6-16-87 MW
%               3-16-88 MW
%   Copyright 1986-2002 The MathWorks, Inc. 
%  -- check for correct input problem --
[nr,nc] = size(A); n = nr;
if (nr ~= nc), error('Nonsquare A matrix'); end;
[nr,nc] = size(B);
if (nr~=n | nc~=n), error('Incorrectly dimensioned B matrix'); end;
[nr,nc] = size(C);
if (nr~=n | nc~=n), error('Incorrectly dimensioned C matrix'); end;
% Following is much faster than before
[q,t] = schur([A -B; -C -A']);
[q,t] = rsf2csf(q,t);
tol = 10.0*eps*max(abs(diag(t)));   % ad hoc tolerance
ns = 0;
%
%  Prepare an array called index to send message to ordering routine 
%  giving location of eigenvalues with respect to the imaginary axis.
%  -1  denotes open left-half-plane
%   1  denotes open right-half-plane
%   0  denotes within tol of imaginary axis
%
index = [];  
for i = 1:2*n,
    if (real(t(i,i)) < -tol),
        index = [ index -1 ];
    ns = ns + 1;
    elseif (real(t(i,i)) > tol),
    index = [ index 1 ];
    else,
    index = [ index 0 ];
    end;
end;
if (ns ~= n), error('No solution: (A,B) may be uncontrollable or no solution exists'); end;
[q,t] = schord(q,t,index);
X = real(q(n+1:n+n,1:n)/q(1:n,1:n));

darova 2020-4-2

Untitled3.m

Please see my new improved script (attached)

ABdanyia 2020-4-2

Yeah it work, Thank you so much for your time really appriciated. God bless you

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