matlab 两轮差速模型运动模型公式和运动轨迹模拟

% 参考博客
% https://blog.csdn.net/bufengzj/article/details/103353238?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.compare&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.compare

% 两轮差速模型轨迹预测
clc;
clear;
vr = 0.3; % 右轮速
vl = 0.1; % 左轮速
angle = 0; %初始角度
L = 1.0; % 两个后轮的距离
p = [1 1];

for i=1:10
    dentax = (vr+vl)*cos(angle)/2;
    dentay = (vr+vl)*sin(angle)/2;
    theta = (vr-vl)/L;
    pos = [p(end,1)+dentax p(end,2)+dentay];
    p =[p;pos];
    angle = angle + theta;
end
%计算旋转中心转动半径 -1 1原地旋转
R = (L/2)*(vr + vl)/(vr-vl);
R
plot(p(:,1),p(:,2),‘.-r‘);
hold on;
axis equal;