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###### 日期：2022-02-21 10:27

HW 8

1. For this problem, set your Matlab path to use the angdiff function from the text toolbox, not the

Matlab toolbox. Use Matlab to write your own drivepoint program using the start given in class. Show

your code. Show a plot of the path for combinations in the table below. You will have 2 plots. Copy

plots from Matlab, paste into a Word document, and adjust size to fit the two plots to a line. Adjust

your axes using the following Matlab command:

axis([min(xpath(:))-0.1*abs(min(xpath(:))) ...

max(xpath(:))+0.1*abs(min(xpath(:))) ...

min(ypath(:))-0.1*abs(min(ypath(:))) ...

max(ypath (:))+0.1*abs(min(ypath (:)))])

a)

[xgoal ygoal] [xinit yinit angint]

[5 5] [3 5 pi]

[3 5 –pi+0.01]

b) Provide a complete explanation why the paths are different. It may help to print out some variables

the first time through the while loop.

c) Show a plot of the path for combinations in the table below. Copy plots from Matlab, paste into a

Word document, and adjust size to fit the two plots to a line. Adjust your axes using the command given

in part a:

[xgoal ygoal] [xinit yinit angint]

[5 5]

[8 5 –pi+0.01]

[8 5 0]

[8 5 pi/2]

[8 5 -pi/2]

[0 0]

[4 -3 pi/4]

[4 5 0]

[-2 -3 pi/2]

[3 -6 -pi/2]