Question: WRITE A FUNCTIONAL MATLAB CODE FOR THE FOLLOWING PROJECT. MODEL THE KINEMATICS OF THE ROBOT AND SIMULATE IT BY CODING A FUNCTIONAL MATLAB CODE FOR

WRITE A FUNCTIONAL MATLAB CODE FOR THE FOLLOWING PROJECT. MODEL THE KINEMATICS OF THE ROBOT AND SIMULATE IT BY CODING A FUNCTIONAL MATLAB CODE FOR A UNICYCLE ROBOT.

BASE MATLAB CODE IS :

% %

Simulator Skeleton File

-

Project

1

%

This file provides the bare

-

bones requirements for interacting with the

%

Robotarium. Note that this code won't actually run. You'll have to

%

insert your own algorithm! If you want to see some working code, check

%

out the 'examples' folder.

close all

% %

Get Robotarium object used to communicate with the robots

/

simulator

= 1

;

=

Robotarium

('

NumberOfRobots

',

,

'ShowFigure', true

)

;

data

= []

;

%

Select the number of iterations for the experiment.

iterations

= 3000

;

%

Do not change

%

Create a boundary barrier

uni

_

barrier

_

certificate

=

create

_

uni

_

barrier

_

certificate

_

with

_

boundary

()

;

%

Other important variables

target

1 = [- 0.5

;

- 0.5

;

0]

;

target

2 = [0.5

;

- 0.5

;

0]

;

target

3 = [0.5

;

0.5

;

0]

;

target

4 = [- 0.5

;

0.5

;

0]

;

text

(

target

1 (1, 1),

target

1 (2, 1),' \

oplus

',

'FontSize',

12,

'Color','blue'

)

;

text

(

target

2 (1, 1),

target

2 (2, 1),' \

otimes

',

'FontSize',

12,

'Color','red'

)

;

text

(

target

1 (1,

) - . 1,

target

1 (2,

) - . 2,

'Target

1')

text

(

target

2 (1,

) - . 1,

target

2 (2,

) - . 2,

'Target

2')

text

(

target

3 (1, 1),

target

3 (2, 1),' \

oplus

',

'FontSize',

12,

'Color','black'

)

;

text

(

target

4 (1, 1),

target

4 (2, 1),' \

otimes

',

'FontSize',

12,

'Color','green'

)

;

text

(

target

3 (1,

) - . 1,

target

3 (2,

) + . 2,

'Target

3')

text

(

target

4 (1,

) - . 1,

target

4 (2,

) + . 2,

'Target

4')

= 1

;

% % % % % % % % % % % % % % % % % % % % % % % %

Place Static Variables Here

% % % % % % % % % % % % % % % % % %

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

%

var

= 0

;

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %

%

Iterate for the previously specified number of iterations

for t

= 1

:iterations

%

Retrieve the most recent poses from the Robotarium. The time delay is

%

approximately

0.033

seconds

=

.

get

_

poses

()

;

% % % % % % % % % % % % % % % % % % % % % % % %

Place Algorithm Here

% % % % % % % % % % % % % % % % % % % % % % % % %

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

%

= ? ? ?

;

%

= [0

;

1]

;

%

You can try with u

= [0.1

;

0]

and

[0

;

1]

first. Observe what happens to

%

get a sense of how it works.

%

You should think about implementing a finite

-

state machine. How many

%

states are there? What are the transitions? What signals the transition

%

from one state to another?

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %

% %

Send velocities to agents

%

Apply the barrier to the valocities

=

uni

_

barrier

_

certificate

(

,

)

;

%

Set velocities of agents

1, . . .,

.

set

_

velocities

(1

,

)

;

%

u is the input, a

2

1

vector for

1

robot

%

Send the previously set velocities to the agents. This function must be called!

data

= [

data

[

p; u

]]

;

.

step

()

;

end

%

Call r

.

debug

()

after our experiment is over!

save

('

data

.

mat', 'data'

)

;

.

debug

()

;

%

Do not modify

% % % % % % % % % % % % % % % % % % % % % % % %

Place Helper Functions Here

% % % % % % % % % % % % % % % % % %

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

%

function a

=

foo

(

)

% % % % % % % % % % % % % %

Do not modify anything outside this area

% % % % % % % % % % % % % % %

WRITE A FUNCTIONAL MATLAB CODE FOR THE FOLLOWING PROJECT. MODEL THE

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