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https://github.com/ROB-535-F21-Team-3/Control-Project.git
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b036087001
- Add gitignore for matlab's "asv" files - Provide garbage inputs for qualifying session submission of part 2
41 lines
2.0 KiB
Matlab
41 lines
2.0 KiB
Matlab
function [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
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% [Utemp, FLAG_terminate] = ROB535_ControlProject_part2_Team3(TestTrack,Xobs_seen,curr_state)
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%
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% This script generates control inputs that avoid randomly generated
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% obstacles along the test track
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%
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% INPUTS:
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% TestTrack the structure loaded from TestTrack.mat
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%
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% Xobs_seen the output of the senseObstacles function
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%
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% curr_state taken from the last state in Y, where Y is the actual
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% trajectory updated after forward integrating the
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% vehicle dynamics using control inputs at every planning
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% iteration
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%
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% OUTPUTS:
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% Utemp an N-by-2 vector of control inputs that will be passed
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% to forwardIntegrateControlInput. Utemp must have enough
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% control inputs with time step 0.01 seconds to forward
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% integrate vehicle dynamics for the next 0.5 seconds
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%
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% FLAG_terminate a binary flag set by the function to indicate when to
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% stop the simulation. Setting this flag to 1 at a
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% planning iteration indicates that, after integrating
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% forward vehicle dynamics using the control inputs from
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% Utemp for 0.5 seconds, the vehicle would have reached
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% the goal. If this flag is set to 0, then it imples that
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% the car would not reach the goal after forward
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% integrating for 0.5 seconds. Note that, in the event
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% that FLAG_terminate is never set to 1, the simulation
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% would stop after 20 minutes so that we can process all
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% the teams files in a timely manner.
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%
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% Written by: Sravan Balaji, Xenia Demenchuk, and Peter Pongsachai
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% Created: 30 Nov 2021
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Utemp = NaN(51,2);
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Utemp(:,1) = 0 .* ones(51,1); % delta
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Utemp(:,2) = 5000 .* ones(51,1); % F_x
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FLAG_terminate = rand(1,1) > 0.9;
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end |