Shulou(Shulou.com)06/01 Report--

Today, I would like to share with you how matlab realizes the simulation and control of planar mobile robots. The content is detailed and the logic is clear. I believe most people still know too much about this knowledge, so share this article for your reference. I hope you can get something after reading this article. Let's learn about it.

Goal:

Realize the transformation of car speed, angular speed and left and right wheel speed

Realize the calculation of the position and attitude of the car (accumulated by traveling records)

Realize the reading conversion of trolley distance sensor

First open this file.

At the position where the prompt is completed

Realize the transformation of car speed, angular speed and left and right wheel speed

START CODE BLOCK

Vel_r = (2*v+w*L) / 2gamma R

Vel_l = (2*v-w*L) / 2gamma R

END CODE BLOCK

And then open it.

In

Realize the calculation of the position and attitude of the car (accumulated by traveling records)

START CODE BLOCK

D_right = (right_ticks-prev_right_ticks) * m_per_tick

D_left = (left_ticks-prev_left_ticks) * m_per_tick

D_center = (d_right + d_left) / 2

Phi = (d_right-d_left) / L

X_dt = d_center*cos (theta)

Y_dt = d_center*sin (theta)

Theta_dt = phi

END CODE BLOCK

Finally open it.

In

Realize the reading conversion of trolley distance sensor

START CODE BLOCK

Ir_voltages = ir_array_values*3/1000

Coeff = [- 0.0182 0.1690-0.6264 1.1853-1.2104 0.6293]

END CODE BLOCK

We have achieved this week's goal, in

Modify the movement parameters of the car

The car can run according to the predetermined parameters.

These are all the contents of the article "how to realize the Simulation and Control of Planar Mobile Robot by matlab". Thank you for reading! I believe you will gain a lot after reading this article. The editor will update different knowledge for you every day. If you want to learn more knowledge, please pay attention to the industry information channel.

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