%%%%?WHEELED?MOBILE?ROBOT
%?Course:?Robotic?Manipulation?and?Mobility
%?Advisor:?Dr.?V.?Krovi
%
%?Homework?Number:?6
%
%?Names:?Sourish?Chakravarty
%?	Hrishi?Lalit?Shah
%%
clear?all;
close?all;
clc;

global?r?b?d?a?mc?mw?Ic?Iw?Im?L1?L2?%?WMR?paramters
global?xe?ye?rx?ry?ell_an?start_an?w?%?Trajectory?information
global?Kp1?Kd1?Kp2?Kd2

d2r=pi/180;
COMPUTE=1;
%%?SYSTEM?PARAMETERS?OF?WMR
r=?0.15;?%?Radius?of?each?wheel
b=?0.75;?%?Wheel?base軸距
d=?0.30;?%?Forward?distance?of?Center?of?mass?from?center?of?rear?axle
a=?2.00;
mc=?30.00;
mw=?1.00;
Ic=?15.625;
Iw=?0.005;
Im=?0.0025;
L1?=?0.25;?L2?=0.25;?%?Coord?of?Look?Ahead?point?in?WMR?ref?frame
%%?TRAJECTORY?（ELLIPSE）?INFORMATION
xe=2;?%?x?center?of?ellipse
ye=0;?%?y?center?of?ellipse
rx=1.75;%?Half-length?of?maj

?屬性????????????大小?????日期????時間???名稱
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?????文件??????46249??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\2008_MAE513_MobileManipulation_Syllabus_FINAL.pdf

?????文件?????962535??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\hw6.pdf

?????文件???????3507??2013-12-12?19:13??92687956Wheeled_Mobile_Robot\HW6_MAIN_1.m

?????文件??????24013??2013-12-12?19:13??92687956Wheeled_Mobile_Robot\Kp100Kd10.mat

?????文件??????24104??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\Kp15Kd10.mat

?????文件??????24133??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\Kp15Kd2.mat

?????文件??????23996??2013-12-12?19:13??92687956Wheeled_Mobile_Robot\Kp50Kd10.mat

?????文件??????24144??2013-12-19?00:57??92687956Wheeled_Mobile_Robot\Kp5Kd10.mat

?????文件???????1332??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\license.txt

?????文件???????3050??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\plotbot_WMR.m

?????文件????????562??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\readme.txt

?????文件????3001700??2013-12-12?19:13??92687956Wheeled_Mobile_Robot\Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=100Kp2=100.avi

?????文件?????943104??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=15Kp2=15.avi

?????文件????1662832??2013-12-12?19:13??92687956Wheeled_Mobile_Robot\Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=50Kp2=50.avi

?????文件????3032560??2013-12-19?00:57??92687956Wheeled_Mobile_Robot\Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=5Kp2=5.avi

?????文件?????926208??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\Wheeled?Mobile?Robot?Control;Kd1=2Kd2=2Kp1=15Kp2=15.avi

?????文件???????3613??2013-12-11?10:49??92687956Wheeled_Mobile_Robot\WMR_TRAJTRACK.m

?????目錄??????????0??2014-03-03?23:43??92687956Wheeled_Mobile_Robot

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?????????????10707642????????????????????18