%%%%%%%%%%%%%%%%%%%%%%Leader-follower%%%%%%%%%%%%%%%%
%%%%%%%%%%%%兩個機器人保持固定角度與固定距離，一段，


clc;
close?all;
clear?all;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%給定初始條件%%%%%%%%%%%%%%%%
%%%%%主機器人1%%%%%%%
X1（1）=100;Y1（1）=0;C1（1）=0;V1=50;W1=0;
%%%%%從機器人2%%%%%%%
X2（1）=0;Y2（1）=200;C2（1）=0;

%%%%%其他初始條件%%%%%%
k1=0.1;k2=0.1;d=13;k=0;T=0.1;
l121=100;F021=pi*0.75;%%%%最終狀態


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
L12（1）=sqrt（（X1（1）-X2（1））^2+（Y1（1）-Y2（1））^2）;
V2（1）=0;


for?k=1:200;
??L12（k）=sqrt（（X1（k）-X2（k））^2+（Y1（k）-Y2（k））^2）;

??FF2（k）=pi-atan（abs（（Y1（k）-Y2（k））/（X2（k）-X1（k））））;
??R12（k）=C1（k）+FF2（k）-C2（k）;
??F12（k）=C1（k）-C2（k）;
??S12（k）=k1*（l121-L12（k））;
??B12（k）=k2*（F021-FF2（k））;
??
?
??
??V2（k）=S12（k）*cos（R12（k））-L12（k）*sin（R12（k））*（W1+B12（k

?屬性????????????大小?????日期????時間???名稱
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?????文件???????1878??2013-05-08?15:31??l_f.m

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?????????????????1878????????????????????1