How to realize the Simulation and Control of Planar Mobile Robot with matlab
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.
