tracking
所属分类：其他
开发工具：matlab
文件大小：2251KB
下载次数：28
上传日期：2017-09-20 14:51:42
上 传 者：
zhou0123
说明： 移动机器人的轨迹跟踪算法，包括椭圆、园、直线、等
(solve the non-
holonomic restriction problem of trajectory tracking of the
wheeled mobile robot.)
文件列表:
HW6_MAIN_1.m (3507, 2013-12-12)
Kp5Kd10.mat (24127, 2017-09-18)
Kp15Kd2.mat (24133, 2013-12-11)
Kp15Kd10.mat (24104, 2013-12-11)
Kp50Kd10.mat (23996, 2013-12-12)
Kp100Kd10.mat (24013, 2013-12-12)
license.txt (1332, 2013-12-11)
plotbot_WMR.m (3050, 2013-12-11)
Wheeled Mobile Robot Control;Kd1=2Kd2=2Kp1=15Kp2=15.avi (926208, 2013-12-11)
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=5Kp2=5.avi (1881944, 2017-09-18)
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=15Kp2=15.avi (943104, 2013-12-11)
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=50Kp2=50.avi (1662832, 2013-12-12)
Wheeled Mobile Robot Control;Kd1=10Kd2=10Kp1=100Kp2=100.avi (3001700, 2013-12-12)
WMR_TRAJTRACK.m (3613, 2013-12-11)
2008_MAE513_MobileManipulation_Syllabus_FINAL.pdf (46249, 2013-12-11)
hw6.pdf (962535, 2013-12-11)
Dynamic Control of a Wheeled Mobile Robot
Students:
Hrishi Shah
Sourish Chakravarty
Advisor:
Dr. Venkat Krovi
SUNY Buffalo
Spring 2009
The WMR is plotted in red and the Look ahead point is in blue.
The ellipse is in black.
Main_1 is the main file.
WMR_TrajTrack is the function call file.
PlotBot_WMR is the plotting, error calculation and AVI generation file.
There are three videos available:
1) Low Kp, High Kd;
2) High Kp, Low Kd;
3) High Kp, High Kd.
It also has the .mat files that could be used if the COMPUTE is set to zero.
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