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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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