%%%%?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
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?major

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3487??2009-04-23?21:37??HW6_MAIN_1.m
?????文件???????24104??2009-04-23?21:36??Kp15Kd10.mat
?????文件???????24133??2009-04-23?21:40??Kp15Kd2.mat
?????文件???????24138??2009-04-23?21:38??Kp5Kd10.mat
?????文件????????3613??2009-04-23?21:20??WMR_TRAJTRACK.m
?????文件??????943104??2009-04-23?21:36??Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=15Kp2=15.avi
?????文件??????930304??2009-04-23?21:38??Wheeled?Mobile?Robot?Control;Kd1=10Kd2=10Kp1=5Kp2=5.avi
?????文件??????926208??2009-04-23?21:40??Wheeled?Mobile?Robot?Control;Kd1=2Kd2=2Kp1=15Kp2=15.avi
?????文件??????962535??2009-04-07?17:54??hw6.pdf
?????文件????????3026??2009-04-23?21:35??plotbot_WMR.m
?????文件?????????562??2009-04-29?14:35??readme.txt
?????文件????????1311??2014-02-12?13:04??license.txt