Dynamic Obstacle in matlab environment
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Maria
el 10 de Feb. de 2014
Comentada: Ruqaiya Attaullah
el 22 de Abr. de 2020
if i have a obstacle (represented as (x,y)) in the mobile robot environment by using matlab , how can i make that obstacle move randomly with dynamic speed .
3 comentarios
Auday
el 16 de Jun. de 2014
Dear all I have two objects with original and destination positions as in below; how I can make them move using rand function, please
%// Define rectangle values origin_x1 = [9.5 9.5 11.5 11.5 ]; origin_y1 = [12.6 14.6 14.6 12.6]; destination_x1 = origin_x1 + 3; destination_y1 = origin_y1 + 2;
%// Define circle values r = 1; v = linspace(0,2*pi); origin_x2 = 15+r*cos(v); origin_y2 = 10+r*sin(v); destination_x2 = origin_x2 - 1; destination_y2 = origin_y2 + 3;
Respuesta aceptada
Walter Roberson
el 10 de Feb. de 2014
x = x + rand() * max_x;
y = y + rand() * max_y;
or
theta = rand() * 2 * pi;
r = rand() * max_velecity;
[deltax, deltay] = pol2cart(r, theta);
x = x + deltax;
y = y + deltay;
2 comentarios
Más respuestas (2)
Mischa Kim
el 10 de Feb. de 2014
I strongly recommend not to "randomize" the position vector since this results in a non-differentiable function. Start with acceleration and work your way back to position by integration. This way you'll at least end up with a solid kinematics system. If you even need to go a step further you have to make sure that the kinetics is compatible, as well.
function rand_mov()
tspan = 0:0.01:5;
X0 = [0 0 0 0];
[T, Xsol] = ode45(@EOM, tspan, X0);
figure
subplot(2,1,1)
plot(T, Xsol(:,1),T, Xsol(:,2))
title('x and vx vs. t')
subplot(2,1,2)
plot(Xsol(:,1), Xsol(:,3))
title('x vs. y')
end
function dX = EOM(t, X)
dX = zeros(4,1);
da = 1;
x = X(1);
vx = X(2);
y = X(3);
vy = X(4);
dX = [vx; da*(rand()-0.5); vy; da*(rand()-0.5)];
end
5 comentarios
Mudasser Wahab
el 18 de Ag. de 2014
Hey can you help me with a problem. How can I simulate a static obstacle?
I have the kinematic model of a differential drive robot. I have been able to navigate it from one point to another in an obstacle free environment. Now I want to insert a static obstacle and ovoid them using obstacle avoidance techniques.
The problem is I don't know How to simulate an obstacle in simulink.
Ruqaiya Attaullah
el 22 de Abr. de 2020
Mudasser Wahab can you please help me in navigating the robot from one point to another. I am having trouble with that.
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