CHALMERS

Automotive Engineering

FFR125
Autonomous agents

Home Problems 1
Chetan Krishnaswamyreddy (900908-3339)
kchetan@student.chalmers.se
 Home Problems 1 Chetan Krishnaswamyreddy

TABLE OF CONTENTS

1.1.- Basic kinematics.................................................................................................................................... 3

1.1.1.- ......................................................................................................................................................... 3
2. APPENDIX .............................................................................................................................................. 7
2.1.- MATLAB CODE .................................................................................................................................. 7

TABLE OF FIGURES

Figure 1: Differentially steered robot ............................................................................................................... 3

Figure 2 : Trajectory of the robot for task 1.1a.................................................................................................. 5

TABLE OF TABLES

No table of figures entries found.

 Home Problems 1 Chetan Krishnaswamyreddy

1.1.- BASIC KINEMATICS OF DIFFERENTIALLY STEERED ROBOT

Figure 1: Differentially steered robot

1.1.1.- Analytical problems

Given Data

Initial Position of Robot (0 , 0 ) = (0,0)

Wheel speeds vary as given by Eq1 and Eq2 where () and () are velocity of left and right wheels

() = 0 ( ) (Eq1.1.1)
1

() = 0 ( ) (Eq1.1.2)
2

Derivation of general expression for the position (x, y) and direction of heading for the robot for any given
time instance t.

V is the linear velocity of the robot, is the angular velocity, and t is the time instance of the robot.

()+ ()
= (Eq1.1.3) ref Lecture notes Equation 2.5
2

() ()
= (Eq1.1.4) ref Lecture notes Equation 2.6
2

X, Y and are the coordinates and direction of heading of the robot.

() 0 = (t) cos(()) (Eq1.1.5) ref Lecture notes Equation 2.7
0

() 0 = () sin(()) (Eq1.1.6) ref Lecture notes Equation 2.8
0

() 0 = () (Eq1.1.7) ref Lecture notes Equation 2.9
0
 Home Problems 1 Chetan Krishnaswamyreddy

Subtitling Eq1.1.1 and Eq1.1.2 in Eq1.1.3, we get V (t) given below

0 1 1
() = [ + ] (Eq1.1.8)
2 1 2

Subtitling Eq1.1.1 and Eq1.1.2 in Eq1.1.4, we get (t) given below

0 1 1
() = [ ] (Eq1.1.9)
2 2 1

Subtitling Eq1.1.9 in Eq1.1.7, we get (t) given below

0 1 1 =
() 0 = [ ] (Eq1.1.10)
2 2 1 0 =0

Integrating and applying limits 0 to t we get

0 1 1 2 0 1 1 2
() = [ ][ ] = [ ][ ] (Eq1.1.11)
2 2 1 2 0 2 2 1 2

0 1 1 2
() = [ ][ ] (Eq1.1.12)
2 2 1 2

Subtitling Eq1.1.8 and Eq1.1.12 in Eq1.1.5, we get (t) given below

0 1 1 0 1 1 2
() 0 = [ + ] cos ( [ ] ) (Eq1.1.13)
2 1 2 0 2 2 1 2

0 1 1 0 1 1
Let constants = [ ] and K= [ + ] (Eq1.1.14)
4 2 1 2 1 2

() = cos( 2 ) (Eq1.1.15)
0

Let = 2 = 2 = (Eq1.1.16)
2

= (Eq1.1.17)

() = cos() = cos() (Eq1.1.18)
0 2 2 0=0

Integrating and applying limits 0 to t we get

() = [sin( 2 )] = [sin( 2 ) 0] (Eq1.1.19)
2 0 2

0 1 1
[ + ]
2 1 2
() = sin( 2 ) = 0 1 1 [1 cos( 2 )] (Eq1.1.20)
2 [ ]
2 2 1
 Home Problems 1 Chetan Krishnaswamyreddy

1 1
[ + ]
1 2
() = 1 1 1 cos( 2 ) (Eq1.1.21)
[ ]
2 1

Similarly, we get Y(t)

() = sin() = sin() (Eq1.1.22)
0 2 2 0=0

Integrating and applying limits 0 to t we get

() = [cos( 2 )] = [cos( 2 ) ( cos(0))] (Eq1.1.23)
2 0 2

0 1 1
[ + ]
2 1 2
() = [1 cos( 2 )] = 0 1 1 [1 cos( 2 )] (Eq1.1.24)
2 [ ]
2 2 1

1 1
[ + ]
() = 1
1 1 1
2
[1 cos( 2 )] (Eq1.1.25)
[ ]
2 1

Plotting the resulting trajectory

Initial Velocity 0 = 1 and t = [0 to 10]

Time 1 = 10
Time 2 = 5
Radius of the robots body = 0.25

Figure 2 : Trajectory of the robot for task 1.1a

 Home Problems 1 Chetan Krishnaswamyreddy

1.1.2.- Matlab program for numerical integration of the kinematic equations

Wheel speeds are given by equation

Figure 3 : Trajectory of robot for task 1.1b

 Group 2:

Assignment 3 Pontus Lundberg

Chetan Krishnaswamyreddy

2. APPENDIX
2.1.- MATLAB CODE
 Group 2:

Assignment 3 Pontus Lundberg

Chetan Krishnaswamyreddy