so-called "Car-like robot" shown in the figure.
- Consider The Following Kinematic Model That Corresponds To The So Called Car Like Robot Shown In The Figure A Mentio 1 (155.77 KiB) Viewed 53 times
b. Implement in simulation the necessary controls to achieve
regulation to a point (that the robot reaches a desired coordinate
π₯π = 1, π¦π = 1).
c. Add the dynamic model of the servo motor to the kinematic model
only to control the direction of the vehicle.
Consider πΏ = 0.1, the convergence to the desired position must be
in a time t<8 seconds
Graph the following:
β’ π₯, π¦, π, πΎ vs time
β’ Position error defined as Ξπ₯ = π₯π β π₯, Ξπ¦ = π¦π β π¦, where π₯π, π¦π
are the desired x-position and the desired y-position
respectively
* = v cos e Γ½ = v sin V =ΕΎt = -tan y steering wheel angle XB Ρ steered wheel velocity v Σ© RB RF βX L {0}