How to realize the car to avoid obstacles by matlab
This article introduces the relevant knowledge of "how to achieve matlab to avoid obstacles". In the operation of actual cases, many people will encounter such a dilemma, so let the editor lead you to learn how to deal with these situations. I hope you can read it carefully and be able to achieve something!
There are three steps:
Convert sensor data
Convert sensor data from car coordinate system to world coordinate system
Solve the motion parameters of avoiding collision by converting the sensor data.
First open this file.
First of all, in
Get the transformation matrix
START CODE BLOCK
R = [cos (theta)-sin (theta) x; sin (theta) cos (theta) y; 0 01]
END CODE BLOCK
In
Realize the conversion of sensor data, the conversion of sensor data from the car coordinate system to the world coordinate system
START CODE BLOCK
% Apply the transformation to robot frame.
Ir_distances_rf = zeros (3)
For i=1:n_sensors
Xamps = obj.sensor_placement (1BI)
Yizhs = obj.sensor_placement (2BI)
Theta_s = obj.sensor_placement (3BI)
R = obj.get_transformation_matrix (Xerox, Magazine, Thetails)
Ir_distances_rf (:, I) = R * [ir _ distances (I); 0; 1]
End
% Apply the transformation to world frame.
[xmemy _ theta] = state_estimate.unpack ()
R = obj.get_transformation_matrix (xmai y theta)
Ir_distances_wf = R*ir_distances_rf
Ir_distances_wf = ir_distances_wf (1JV 2JI:)
END CODE BLOCK
And then in
To solve the avoidance motion parameters by converting the sensor data.
START CODE BLOCK
% Compute the heading vector
N_sensors = length (robot.ir_array)
Sensor_gains = [1 1 0.5 1 1]
Uzzi = (ir_distances_wf-repmat ([XTINY], 1) * diag (sensor_gains)
U_ao = sum (UpriiPol 2)
% Compute the heading and error for the PID controller
Theta_ao = atan2 (u_ao (2), u_ao (1))
EQuik = theta_ao-theta
ESurek = atan2 (sin (esigk), cos (eBay))
END CODE BLOCK
Last run
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