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Homework1.asv
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%% Homewrok Assignment #1
% Student: Guilherme De Moura Araujo
% Professor: Stavros Vougioukas
close all; clear all; clc;
%% Part 1a - Drive through a square of 5x5
%INPUTS
D = 5;
v = 1; % linear velocity
w = pi/2; % angular velocity
wi = 2.0; % vehicle width
r = 0.5; % wheel radius
l = 3; % vehicle length
dt = 0.05; % delta time
sl = 0; %left slip
sr = 0; % right sleep
d = deg2rad(0); % delta (angle)
x = 0; % initial x pose
y = 0; % initial y pose
theta = deg2rad(0);
proute = [x,y];
tractor = draw_tractor(wi,l,r); % draw a vehicle element
% initial conditions prior to start the open loop
[oldframe,proute] = move_robot(tractor,proute,x,y,theta,tractor);
xp = x;
yp = y;
thetap = theta;
% Open loop
for i=0:dt:D/v-dt %First side
[xp,yp,thetap] = kinematic_ss(v,0,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Second side (notice that now theta = 90)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 180)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 270)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
%% Part 1b - Drive through a circle of radius 5
%INPUTS
clear all;
clc;
v = 1; % m/s
R = 5; % meters
w = v/R; % radians/s
r = 0.5; % m
l = 3; % m
wi = 2; % m
dt = 0.05; % s
sl = 0; % 0%
sr = 0; % 0%
d = deg2rad(0); % rad
x = 0; % m
y = 0; % m
theta = deg2rad(0); % rad
proute = [x,y];
tractor = draw_tractor(wi,l,r);
[oldframe,proute] = move_robot(tractor,proute,x,y,theta,tractor);
xp = x;
yp = y;
thetap = theta;
for i=0:dt:2*pi/w % Distance = 2pi, t = d/w
[xp,yp,thetap] = kinematic_ss(v,w,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute] = move_robot(oldframe,proute,xp,yp,thetap,tractor);
end
%% Part 2a - Different parameters
D = 5;
v = 1; % linear velocity
w = pi/2; % angular velocity
wi = 2.0; % vehicle width
r = 0.5; % wheel radius
l = 3; % vehicle length
dt = 0.05; % delta time
sl = 0.1; %left slip
sr = 0.2; % right sleep
d = deg2rad(0); % delta (angle)
x = 0; % initial x pose
y = 0; % initial y pose
theta = deg2rad(0);
proute2 = [x,y];
tractor = draw_tractor(wi,l,r); % draw a vehicle element
% initial conditions prior to start the open loop
[oldframe,proute2] = move_robot(tractor,proute2,x,y,theta,tractor);
xp = x;
yp = y;
thetap = theta;
% Open loop
for i=0:dt:D/v-dt %First side
[xp,yp,thetap] = kinematic_ss(v,0,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Second side (notice that now theta = 90)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 180)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 270)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute2] = move_robot(oldframe,proute2,xp,yp,thetap,tractor);
end
%% Part 2b
D = 5;
v = 1; % linear velocity
w = pi/2; % angular velocity
wi = 2.0; % vehicle width
r = 0.5; % wheel radius
l = 3; % vehicle length
dt = 0.05; % delta time
sl = 0.0; %left slip
sr = 0.0; % right sleep
d = deg2rad(5); % delta (angle)
x = 0; % initial x pose
y = 0; % initial y pose
theta = deg2rad(0);
proute3 = [x,y];
tractor = draw_tractor(wi,l,r); % draw a vehicle element
% initial conditions prior to start the open loop
[oldframe,proute3] = move_robot(tractor,proute3,x,y,theta,tractor);
xp = x;
yp = y;
thetap = theta;
% Open loop
for i=0:dt:D/v-dt %First side
[xp,yp,thetap] = kinematic_ss(v,0,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Second side (notice that now theta = 90)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 180)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 270)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute3] = move_robot(oldframe,proute3,xp,yp,thetap,tractor);
end
%% Part 2c
D = 5;
v = 1; % linear velocity
w = pi/2; % angular velocity
wi = 2.0; % vehicle width
r = 0.5; % wheel radius
l = 3; % vehicle length
dt = 0.05; % delta time
sl = 0.1; %left slip
sr = 0.2; % right sleep
d = deg2rad(5); % delta (angle)
x = 0; % initial x pose
y = 0; % initial y pose
theta = deg2rad(0);
proute4 = [x,y];
tractor = draw_tractor(wi,l,r); % draw a vehicle element
% initial conditions prior to start the open loop
[oldframe,proute4] = move_robot(tractor,proute4,x,y,theta,tractor);
xp = x;
yp = y;
thetap = theta;
% Open loop
for i=0:dt:D/v-dt %First side
[xp,yp,thetap] = kinematic_ss(v,0,r,wi,dt,sl,sr,,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Second side (notice that now theta = 90)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 180)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:(pi/2)/w-dt %Vehicle turning
[xp,yp,thetap] = kinematic_ss(0,w,r,wi,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end
for i=0:dt:D/v-dt %Third side (theta = 270)
[xp,yp,thetap] = kinematic_ss(v,0,r,l,dt,sl,sr,0,xp,yp,thetap);
[oldframe,proute4] = move_robot(oldframe,proute4,xp,yp,thetap,tractor);
end