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

4.2. Matlab Script 45
Mixed Angular and Linear Movement
Thisisthecasewherethemovement oftherobotiscomposedof boththe
angular and linear movement. In other words, the robot goes to the specified
target while it is also rotating. The calculation made by the software
simulator uses all the parameters (frontal speed, lateral speed and angular
movement). The calculation of the frontal and lateral speed is found by subtracting
the desired position of the robot from the initial position (Figure
4.4).
200
150
100
50
0
−50
−100
−150
−200
v n2
v t2
v : 3500 mm/s
F
v : −350 mm/s
L
ω : −0.099669 rad/s
R
−250
v
t3
−300 −200 −100 0 100 200 300
v L
v F
ω
v n3
v t1
v n1
v : −3181.1718 mm/s
t1
v : 1446.8911 mm/s
n1
v : 2881.0061 mm/s
t2
v : 2053.1089 mm/s
n2
v : 374.9172 mm/s
t3
v : −3500 mm/s
n3
ω : −129.3159 rad/s
1
ω : 117.1141 rad/s
2
ω : 15.2405 rad/s
3
Figure 4.4: The mixed angular and linear movement calculated by simulator
InFigure 4.4, the resultingmotion is not only a linear movement towards
the direction which is the composition of VF and VL, but also an angular
movement in clockwise direction with an angular speed of -0.099669 rad/s.
All these three different configurations are used in the implementation
of the robot. The whole script is found in Motion Simulator in Appendix