Submitted version of the thesis - Airlab, the Artificial Intelligence ...

128 Appendix B. Documentation of the programming
function [vt , om, vn] = TriskarOdometry(R robot , R wheel , alpha , v F ,
v L , omega, plot)
% − R robot : robot radius (by mean of distance of the wheels from the
% center of the robot) [mm]
% 25 cm in our case −− 250 mm
% − R wheel: wheel radius [mm]
% 24.6000 mm yaricap
% − alpha : angle of the front wheels [ rads ] (in our case alpha = pi/6)
% − vF: frontal speed setpoint [mm/s] −−−x axis
% − vL: lateral speed setpoint [mm/s] , > 0 if oriented to right −y axis
% − omega: angular velocity setpoint [rad/s] > 0 if CCW
% − plot : draw a plot with all vectors (1 = plot , 0 = don’ t plot )
%
% this function returns :
% − vt : vector of tangential wheel velocities [mm/s]
% − vn: vector of ”sliding” velocity of the wheels due to rollers [mm/s] ,
% > 0 if directed from the center to the extern
% − omega w: angular velocity of the wheels [mm/s] , > 0 if CW looking at
% the wheel from the center of the robot
%
% You can call that function like :
% [ vt ,omega w,vn] = TriskarOdometry (250, 24.6 , pi/6,1000,1000,0,1)
cosA = cos(alpha );
sinA = sin(alpha );
v = [v F , v L , omega∗R robot ] ’
MF = [−cosA sinA −1;
cosA sinA −1;
0 −1 −1]
ML = [ sinA cosA 0;
sinA −cosA 0;
−1 0 0];
vt = MF∗v;
om = vt/R wheel ;
vn = ML∗v;