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Air University: MT460 Path Planning in Robotics Be Mts Vii

1) The document discusses path planning for a mobile robot moving on a 2D trajectory defined by the curve (x − 2)2(y + 3)2/(4) − (y + 3)2/9 = 1. 2) It sketches the trajectory which shows the path the robot will take in the x-y plane. 3) It then formulates the Hamiltonian and determines the minimum distance between the robot's position and the point (3,2) by solving the equations derived from taking the gradient of the Hamiltonian.

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70 views

Air University: MT460 Path Planning in Robotics Be Mts Vii

1) The document discusses path planning for a mobile robot moving on a 2D trajectory defined by the curve (x − 2)2(y + 3)2/(4) − (y + 3)2/9 = 1. 2) It sketches the trajectory which shows the path the robot will take in the x-y plane. 3) It then formulates the Hamiltonian and determines the minimum distance between the robot's position and the point (3,2) by solving the equations derived from taking the gradient of the Hamiltonian.

Uploaded by

AmeerUlHaq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Air University

Department of Mechatronics Engineering

MT460 Path Planning in Robotics BE MTS VII

SURFACES AND CONTOURS

[X,Y] = meshgrid(-8:.5:8);
R = sqrt(X.^2 + Y.^2);
Z = sin (R)./R;
mesh(X,Y,Z,'EdgeColor','black')

surf(X,Y,Z)
colormap hsv
colorbar

0.8
1

0.6
0.5

0.4

0.2

-0.5
10
0
5 10
0 5
0
-5 -5 -0.2
-10 -10

A mobile robot is moving on a 2D trajectory, in x-y space, on the curve


(𝑥 − 2)2 (𝑦 + 3)2
− =1
4 9
a) Sketch the trajectory (Marks 4)
Air University
Department of Mechatronics Engineering

Part (a)
x = 4:.02:8;
y1 = sqrt(9*( 0.25*(x - 2).^2 - 1 )) - 3.0;
y2 = -sqrt(9*( 0.25*(x - 2).^2 - 1 )) - 3.0;

plot (x,y1)
hold on
plot (x,y2)
grid on
xlabel('x')
ylabel('y')

-2
y

-4

-6

-8

-10

-12
4 4.5 5 5.5 6 6.5 7 7.5 8
x
Figure 1. Trajectory of the mobile robot

Part (b)
The Hamiltonian is
(𝑥 − 2)2 (𝑦 + 3)2
𝐻(𝑥, 𝑦, 𝜆) = (𝑥 − 3)2 + (𝑦 − 2)2 + 𝜆 [ − − 1]
4 9
put ∇𝐻 = 0, for all three variables 𝑥, 𝑦, 𝜆 and solve for 𝑥, 𝑦. The required minimum distance is then
𝑑 = √(𝑥 − 3)2 + (𝑦 − 2)2

Part (c)
Air University
Department of Mechatronics Engineering

(𝑥 − 2)2 (𝑦 + 3)2
𝐻(𝑥, 𝑦, 𝜆) = (𝑦 − √3𝑥) + 𝜆 [ − − 1]
4 9
Solution is 𝑥 = 6, 𝑦 = 3√3 − 3 which gives the maximum value of 𝜑(𝑥, 𝑦) ≡ 𝑦 − √3𝑥 = −8.1961. The
contours are shown below (Matlab program in Annex A)

8 0
4

6 -4
0

4 -4
0

2 -4 -8

0 -8
y

-4

-2 -8 -1 2

-4 -8 -1 2

-6
-1 2 -1 6

-8
2 2.5 3 3.5 4 4.5 5 5.5 6
x

Figure 2. Contours of the cost function 𝜑(𝑥, 𝑦) ≡ 𝑦 − √3𝑥 and the trajectory of the mobile robot.

Matlab Program for Fig. 2

clear all
fid=fopen('outEx221','w')
tic

[X,Y] = meshgrid(2:.2:6,-8:.2:8);
Z = Y - sqrt(3) *X ;
[C,h] = contour(X,Y,Z);
set(h,'ShowText','on','TextStep',get(h,'LevelStep')*2)
colormap cool
Air University
Department of Mechatronics Engineering

hold on

xx= 0:0.01:8
yy=sqrt(3) *xx- 8.1961;
plot (xx,yy)
hold on

x = 4:.02:8;
y1 = sqrt(9*( 0.25*(x - 2).^2 - 1 )) - 3.0;
y2 = -sqrt(9*( 0.25*(x - 2).^2 - 1 )) - 3.0;

plot (x,y1)
hold on
plot (x,y2)
grid on
xlabel('x')
ylabel('y')
toc
fclose(fid)

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