diff --git a/Files_4_thesis/Laser Scanner Results/docked_with_marker_rob_coord.jpg b/Files_4_thesis/Laser Scanner Results/docked_with_marker_rob_coord.jpg
index baec98594d127af55acdd5cce531fb2204b262db..19eb07b7ab655694557ce2d7a445f246bc7a8950 100644
Binary files a/Files_4_thesis/Laser Scanner Results/docked_with_marker_rob_coord.jpg and b/Files_4_thesis/Laser Scanner Results/docked_with_marker_rob_coord.jpg differ
diff --git a/Files_4_thesis/Laser Scanner Results/experiments_with_Laser_scanner.jpg b/Files_4_thesis/Laser Scanner Results/experiments_with_Laser_scanner.jpg
index 526b08b186681a11f8b7642cf3ffca6c258c62f8..af014d90b6a9f240b1d7028d6550f37a977b51f9 100644
Binary files a/Files_4_thesis/Laser Scanner Results/experiments_with_Laser_scanner.jpg and b/Files_4_thesis/Laser Scanner Results/experiments_with_Laser_scanner.jpg differ
diff --git a/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg b/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg
index a3579692a2c9b1bcda2ac1a0338e4239e2513b12..4e05664b153d663ecda989c77bf5f8102e3ed5ae 100644
Binary files a/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg and b/Files_4_thesis/Laser Scanner Results/scanner_rob.jpg differ
diff --git a/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..bcf9a2fe81c0c317c2f566457a599449d8848561
Binary files /dev/null and b/Files_4_thesis/MSc_Thesis_Report_Alijani_Farid.pdf differ
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-03-21 20:01:57.png b/Files_4_thesis/Pictures/Screenshot from 2016-03-21 20:01:57.png
deleted file mode 100644
index 235c9d9898ec4cb9b48f4a7f20e070e51a587f44..0000000000000000000000000000000000000000
Binary files a/Files_4_thesis/Pictures/Screenshot from 2016-03-21 20:01:57.png and /dev/null differ
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png
deleted file mode 100644
index 179c654ea6836bf852f592d029c739b8e3f1f57f..0000000000000000000000000000000000000000
Binary files a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:36:25.png and /dev/null differ
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png
deleted file mode 100644
index ad3979b4c31f5c706e88d6e4cc42c9f098c8d722..0000000000000000000000000000000000000000
Binary files a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:37:04.png and /dev/null differ
diff --git a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png b/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png
deleted file mode 100644
index 81648d59a97953b92f1b44f3d105e8e9363cc6bd..0000000000000000000000000000000000000000
Binary files a/Files_4_thesis/Pictures/Screenshot from 2016-08-14 19:39:13.png and /dev/null differ
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index 55ee983cea7af180ee424ee1fd77b1d7f21d1491..d8654575bf6d676f68ab51d916466687632d87b2 100644
Binary files a/Files_4_thesis/Report.docx and b/Files_4_thesis/Report.docx differ
diff --git a/Files_4_thesis/scanner_analysis.asv b/Files_4_thesis/scanner_analysis.asv
new file mode 100644
index 0000000000000000000000000000000000000000..d525bb3775de33fe9abb0e56267a049fef4679e3
--- /dev/null
+++ b/Files_4_thesis/scanner_analysis.asv
@@ -0,0 +1,315 @@
+clc;
+close all;
+clear all;
+
+upper_angle = 135; % deg.
+lower_angle = -135; % deg.
+dist_to_obst = .1; % m.
+
+%% docked robot for 5 different experiences...
+
+S_mat = csvread('Scan_Data_5_exp.csv');
+
+indx = S_mat(:,1);
+
+s_exp_1 = S_mat(:,2);
+s_exp_2 = S_mat(:,3);
+s_exp_3 = S_mat(:,4);
+s_exp_4 = S_mat(:,5);
+s_exp_5 = S_mat(:,6);
+
+
+points = size(indx,1); % to calculate the angle...
+laser_beam = points -1;
+
+angle = zeros(points,1);
+X_exp_1 = zeros(points,1);
+X_exp_2 = zeros(points,1);
+X_exp_3 = zeros(points,1);
+X_exp_4 = zeros(points,1);
+X_exp_5 = zeros(points,1);
+X_obst = zeros(points,1);
+
+Y_exp_1 = zeros(points,1);
+Y_exp_2 = zeros(points,1);
+Y_exp_3 = zeros(points,1);
+Y_exp_4 = zeros(points,1);
+Y_exp_5 = zeros(points,1);
+Y_obst = zeros(points,1);
+
+
+
+for i = 1:points
+
+ angle(i) = (lower_angle + (indx(i)* ((upper_angle - lower_angle)/(laser_beam))))* pi/180;
+
+ X_exp_1(i) = s_exp_1(i) * cos(angle(i));
+ X_exp_2(i) = s_exp_2(i) * cos(angle(i));
+ X_exp_3(i) = s_exp_3(i) * cos(angle(i));
+ X_exp_4(i) = s_exp_4(i) * cos(angle(i));
+ X_exp_5(i) = s_exp_5(i) * cos(angle(i));
+ X_obst(i) = dist_to_obst * cos(angle(i));
+
+ Y_exp_1(i) = s_exp_1(i) * sin(angle(i));
+ Y_exp_2(i) = s_exp_2(i) * sin(angle(i));
+ Y_exp_3(i) = s_exp_3(i) * sin(angle(i));
+ Y_exp_4(i) = s_exp_4(i) * sin(angle(i));
+ Y_exp_5(i) = s_exp_5(i) * sin(angle(i));
+ Y_obst(i) = dist_to_obst * sin(angle(i));
+end
+
+% theta vs. scanner_value & reference
+figure;
+subplot(1,2,1);
+% plot(angle,s_exp_1,'m--','LineWidth',1.1);
+% hold on;
+plot(angle,s_exp_2,'m--','LineWidth',1.9);
+hold on;
+plot(angle,s_exp_3,'b--','LineWidth',1.9);
+hold on;
+plot(angle,s_exp_4,'c--','LineWidth',1.5);
+hold on;
+% plot(angle,s_exp_5,'b--','LineWidth',.8);
+% hold on;
+plot(angle,dist_to_obst,'rx','LineWidth',.05);
+title('');
+xlabel('${Angle}$ [rad]','interpreter','latex');
+ylabel('${Obstacle Distance}$ [m]','interpreter','latex');
+axis([-.09 .42 .08 .2]);
+% legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
+subplot(1,2,2);
+% plot(X_exp_1,Y_exp_1,'m--','LineWidth',.9);
+% hold on
+plot(X_exp_2,Y_exp_2,'m--','LineWidth',1.9);
+hold on
+plot(X_exp_3,Y_exp_3,'b--','LineWidth',1.9);
+hold on
+plot(X_exp_4,Y_exp_4,'c--','LineWidth',1.5);
+hold on
+% plot(X_exp_5,Y_exp_5,'b--','LineWidth',.1);
+% hold on
+plot(X_obst,Y_obst,'r--','LineWidth',.05);
+title('');
+xlabel('${X_{rob}}$ [m]','interpreter','latex');
+ylabel('${Y_{rob}}$ [m]','interpreter','latex');
+axis([-.1 .16 -.18 .18]);
+l = legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
+set(l,'interpreter','latex','FontSize',12);
+
+%% docked robot with marker vs. docked robot without marker!
+S_Mat_DockedwithMar = csvread('scanner_data_Docked_WITH_Marker.txt',0,0);
+S_Mat_DockedwithNOmar = csvread('scanner_data_no_cylinder.txt',0,0);
+
+indx_DockedwithMar = S_Mat_DockedwithMar(:,1);
+s_val_DockedwithMar = S_Mat_DockedwithMar(:,2);
+
+indx_DockedwithNOmar = S_Mat_DockedwithNOmar(:,1);
+s_val_DockedwithNOmar = S_Mat_DockedwithNOmar(:,2);
+
+points_DockedwithMar = size(indx_DockedwithMar,1);
+points_DockedwithNOmar = size(indx_DockedwithNOmar,1);
+
+laser_beam_DockedwithMar = points_DockedwithMar - 1;
+laser_beam_DockedwithNOmar = points_DockedwithNOmar - 1;
+
+s_angle_DockedwithMar = zeros(points_DockedwithMar,1);
+s_angle_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
+
+X_DockedwithMar = zeros(points_DockedwithMar,1); Y_DockedwithMar = zeros(points_DockedwithMar,1);
+X_DockedwithNOmar = zeros(points_DockedwithNOmar,1); Y_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
+
+X_obst_DockedwithMar = zeros(points_DockedwithMar,1); Y_obst_DockedwithMar = zeros(points_DockedwithMar,1);
+X_obst_DockedwithNOmar = zeros(points_DockedwithNOmar,1); Y_obst_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
+
+
+for i = 1:points_DockedwithMar
+ s_angle_DockedwithMar(i) = (lower_angle + (indx_DockedwithMar(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithMar))))* pi/180;
+ X_DockedwithMar(i) = s_val_DockedwithMar(i) * cos(s_angle_DockedwithMar(i));
+ Y_DockedwithMar(i) = s_val_DockedwithMar(i) * sin(s_angle_DockedwithMar(i));
+ X_obst_DockedwithMar(i) = dist_to_obst * cos(s_angle_DockedwithMar(i));
+ Y_obst_DockedwithMar(i)= dist_to_obst * sin(s_angle_DockedwithMar(i));
+end
+
+
+for i = 1:points_DockedwithNOmar
+ s_angle_DockedwithNOmar(i) = (lower_angle + (indx_DockedwithNOmar(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithNOmar))))* pi/180;
+ X_DockedwithNOmar(i) = s_val_DockedwithNOmar(i) * cos(s_angle_DockedwithNOmar(i));
+ Y_DockedwithNOmar(i) = s_val_DockedwithNOmar(i) * sin(s_angle_DockedwithNOmar(i));
+ X_obst_DockedwithNOmar(i) = dist_to_obst * cos(s_angle_DockedwithNOmar(i));
+ Y_obst_DockedwithNOmar(i)= dist_to_obst * sin(s_angle_DockedwithNOmar(i));
+end
+
+% checking accuracy in robot coordinate system
+figure;
+subplot(3,1,1);
+plot(X_DockedwithNOmar,Y_DockedwithNOmar);
+hold on;
+plot(X_obst_DockedwithNOmar,Y_obst_DockedwithNOmar,'r','LineWidth',3);
+xlabel('X_r [m]');
+ylabel('Y_r [m]');
+title('Scanner Analysis robot coordinate system WITHOUT a marker');
+legend('Obstacles','Laser scanner safety curve (r = 10 cm)');
+grid on
+axis([-2.5 4 -4 1]);
+
+subplot(3,1,2);
+plot(X_DockedwithMar,Y_DockedwithMar,'b');
+hold on;
+plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
+xlabel('X_r [m]');
+ylabel('Y_r [m]');
+title('Scanner Analysis robot coordinate system WITH a marker');
+grid on
+axis([-2.5 4 -4 1]);
+
+subplot(3,1,3);
+plot(X_DockedwithMar,Y_DockedwithMar,'b');
+hold on;
+plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',.3);
+xlabel('X_r [m]');
+ylabel('Y_r [m]');
+grid on
+axis([.04 .16 -.12 .12]);
+
+%
+figure;
+subplot(3,1,1);
+plot(s_angle_DockedwithNOmar,s_val_DockedwithNOmar);
+hold on
+plot(s_angle_DockedwithNOmar,dist_to_obst,'r','LineWidth',.2);
+xlabel('Angle [rad]');
+ylabel('Distance to Obstacle [m]');
+title('Scanner Analysis; docked robot WITHOUT a marker');
+legend('Surrounding objects','Laser scanner safety line (r = 10 cm)');
+axis([-2.2 2.2 -.5 5]);
+
+
+subplot(3,1,2);
+plot(s_angle_DockedwithMar,s_val_DockedwithMar);
+hold on
+plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',.2);
+xlabel('Angle [rad]');
+ylabel('Distance to objects [m]');
+title('Scanner Analysis; docked robot WITH a marker');
+axis([-2.2 2.2 -.5 5]);
+
+subplot(3,1,3);
+plot(s_angle_DockedwithMar,s_val_DockedwithMar);
+hold on
+plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',10);
+xlabel('Angle [rad]');
+ylabel('Distance to Obstacle [m]');
+axis([-.15 .35 .08 .15]);
+
+%% The robot is moving Towards docking...!
+Scanner_Matrix_Moving = csvread('scanner_data_Moving_Towards_Docking_WITH_Marker.txt',0,0);
+
+index_Moving = Scanner_Matrix_Moving(:,1);
+scanner_value_Moving = Scanner_Matrix_Moving(:,2);
+
+index_Moving_Final = Scanner_Matrix_Moving(size(Scanner_Matrix_Moving,1),1);
+scanner_value_Moving_Final = Scanner_Matrix_Moving(size(Scanner_Matrix_Moving,1),2);
+
+% figure;
+% plot(index_Moving,scanner_value_Moving,'m',index_Moving_Final,scanner_value_Moving_Final,'k*');
+% legend('Distance to obstacle','Reference Position');
+% grid on;
+% xlabel('Index');
+% ylabel('Distance to Obstacle [m]');
+% title('Scanner Analysis for a moving robot!');
+% axis([0 540 0 31]);
+
+
+%% The robot is in the docking area, while NOT docked!
+S_Mat_Out = csvread('scanner_data_outside.txt',0,0);
+indx_out = S_Mat_Out(:,1);
+s_val_out = S_Mat_Out(:,2);
+
+points_out = size(indx_out,1);
+laser_beam_out = points_out - 1;
+s_angle_out = zeros(points_out,1);
+X_out = zeros(points_out,1); Y_out = zeros(points_out,1);
+X_obst_out = zeros(points_out,1); Y_obst_out = zeros(points_out,1);
+
+for i = 1:points_out
+ s_angle_out(i) = (lower_angle + (indx_out(i)* ((upper_angle - lower_angle)/(laser_beam_out))))* pi/180;
+ X_out(i) = s_val_out(i) * cos(s_angle_out(i));
+ Y_out(i) = s_val_out(i) * sin(s_angle_out(i));
+
+ X_obst_out(i) = dist_to_obst * cos(s_angle_out(i));
+ Y_obst_out(i)= dist_to_obst * sin(s_angle_out(i));
+end
+
+figure;
+subplot(1,2,1);
+plot(s_angle_out,s_val_out,'b','LineWidth',2);
+hold on
+plot(s_angle_out,dist_to_obst,'r','LineWidth',10);
+xlabel('$Angle [rad]$','interpreter','latex','FontSize',14);
+ylabel('$Obstacle$','interpreter','latex','FontSize',14);
+grid on;
+axis([-2.23 2.23 -1 10]);
+
+subplot(1,2,2)
+plot(X_out,Y_out,'b','LineWidth',2);
+hold on
+plot(X_obst_out,Y_obst_out,'r-','LineWidth',4)
+xlabel('$ X [m] $','interpreter','latex','FontSize',14);
+ylabel('$Obstacle$','interpreter','latex','FontSize',14);
+
+title('Scanner Analysis Top view ( X - Y )');
+
+legend('Obstacles','Laser scanner safety margin (r = 10 cm)');
+
+grid on;
+axis([-1.2 5 -3.5 1.5]);
+
+
+%% The robot is totally docked and a box is besides of laser scanner!
+S_Mat_DockedwithBOX = csvread('scanner_data_box.txt',0,0);
+indx_DockedwithBOX = S_Mat_DockedwithBOX(:,1);
+s_val_DockedwithBOX = S_Mat_DockedwithBOX(:,2);
+
+points_DockedwithBOX = size(indx_DockedwithBOX,1);
+laser_beam_DockedwithBOX = points_DockedwithBOX - 1;
+s_angle_DockedwithBOX = zeros(points_DockedwithBOX,1);
+
+X_DockedwithBOX = zeros(points_DockedwithBOX,1); Y_DockedwithBOX = zeros(points_DockedwithBOX,1);
+X_obst_DockedwithBOX = zeros(points_DockedwithBOX,1); Y_obst_DockedwithBOX = zeros(points_DockedwithBOX,1);
+
+for i = 1:points_DockedwithBOX
+ s_angle_DockedwithBOX(i) = (lower_angle + (indx_DockedwithBOX(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithBOX))))* pi/180;
+ X_DockedwithBOX(i) = s_val_DockedwithBOX(i) * cos(s_angle_DockedwithBOX(i));
+ Y_DockedwithBOX(i) = s_val_DockedwithBOX(i) * sin(s_angle_DockedwithBOX(i));
+
+
+ X_obst_DockedwithBOX(i) = dist_to_obst * cos(s_angle_DockedwithBOX(i));
+ Y_obst_DockedwithBOX(i)= dist_to_obst * sin(s_angle_DockedwithBOX(i));
+end
+
+
+figure;
+
+subplot(2,1,1);
+plot(s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',.01);
+hold on
+plot(s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',5);
+xlabel('Angle [rad]');
+ylabel('Distance to Obstacle [m]');
+title('Scanner Analysis; docked robot with a BOX marker');
+legend('Surrounding objects','Laser scanner safety line (r = 10 cm)');
+axis([-2.2 2.2 0 5]);
+
+subplot(2,1,2);
+plot(s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',.01);
+hold on
+plot(s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',5);
+xlabel('Angle [rad]');
+ylabel('Distance to Obstacle [m]');
+axis([-1.9 0 .08 .22]);
+
+
+
+
+figure;
+plot(X_DockedwithBOX,Y_DockedwithBOX);
\ No newline at end of file
diff --git a/Files_4_thesis/scanner_analysis.m b/Files_4_thesis/scanner_analysis.m
index 537501cc53e6adee40bcf1fd2eb88122ffbbcedb..28ca11bc1bdeffef725b5ab0eb19676eb688819d 100644
--- a/Files_4_thesis/scanner_analysis.m
+++ b/Files_4_thesis/scanner_analysis.m
@@ -73,8 +73,8 @@ hold on;
% hold on;
plot(angle,dist_to_obst,'rx','LineWidth',.05);
title('');
-xlabel('${Angle}$ [rad]','interpreter','latex');
-ylabel('${Obstacle Distance}$ [m]','interpreter','latex');
+xlabel('${Angle}$ [rad]','interpreter','latex','FontSize',14);
+ylabel('${Obstacle [m]}$','interpreter','latex','FontSize',14);
axis([-.09 .42 .08 .2]);
% legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
subplot(1,2,2);
@@ -90,11 +90,11 @@ hold on
% hold on
plot(X_obst,Y_obst,'r--','LineWidth',.05);
title('');
-xlabel('${X_{rob}}$ [m]','interpreter','latex');
-ylabel('${Y_{rob}}$ [m]','interpreter','latex');
+xlabel('${X}$ [m]','interpreter','latex','FontSize',14);
+ylabel('${Y}$ [m]','interpreter','latex','FontSize',14);
axis([-.1 .16 -.18 .18]);
l = legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
-set(l,'interpreter','latex','FontSize',12);
+set(l,'interpreter','latex','FontSize',13);
%% docked robot with marker vs. docked robot without marker!
S_Mat_DockedwithMar = csvread('scanner_data_Docked_WITH_Marker.txt',0,0);
@@ -145,9 +145,9 @@ subplot(3,1,1);
plot(X_DockedwithNOmar,Y_DockedwithNOmar);
hold on;
plot(X_obst_DockedwithNOmar,Y_obst_DockedwithNOmar,'r','LineWidth',3);
-xlabel('X_r [m]');
-ylabel('Y_r [m]');
-title('Scanner Analysis robot coordinate system WITHOUT a marker');
+% xlabel('$ X [m] $','interpreter','latex','FontSize',14);
+ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
+title('Scanner Analysis WITHOUT marker, Top View');
legend('Obstacles','Laser scanner safety curve (r = 10 cm)');
grid on
axis([-2.5 4 -4 1]);
@@ -156,9 +156,8 @@ subplot(3,1,2);
plot(X_DockedwithMar,Y_DockedwithMar,'b');
hold on;
plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
-xlabel('X_r [m]');
-ylabel('Y_r [m]');
-title('Scanner Analysis robot coordinate system WITH a marker');
+ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
+title('Scanner Analysis WITH marker, Top View');
grid on
axis([-2.5 4 -4 1]);
@@ -166,8 +165,8 @@ subplot(3,1,3);
plot(X_DockedwithMar,Y_DockedwithMar,'b');
hold on;
plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',.3);
-xlabel('X_r [m]');
-ylabel('Y_r [m]');
+xlabel('$ X [m] $','interpreter','latex','FontSize',14);
+ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
grid on
axis([.04 .16 -.12 .12]);
@@ -180,7 +179,10 @@ plot(s_angle_DockedwithNOmar,dist_to_obst,'r','LineWidth',.2);
xlabel('Angle [rad]');
ylabel('Distance to Obstacle [m]');
title('Scanner Analysis; docked robot WITHOUT a marker');
-legend('Surrounding objects','Laser scanner safety line (r = 10 cm)');
+
+l2 = legend('${Obstacles}$', '${Safety Margin (r = 10 cm)}$');
+set(l2,'interpreter','latex','FontSize',12);
+
axis([-2.2 2.2 -.5 5]);
@@ -241,26 +243,25 @@ for i = 1:points_out
end
figure;
-subplot(1,2,2);
+subplot(1,2,1);
plot(s_angle_out,s_val_out,'b','LineWidth',2);
hold on
plot(s_angle_out,dist_to_obst,'r','LineWidth',10);
-xlabel('Angle [rad]');
-ylabel('Distance to Obstacle [m]');
-title('Obstacle distance vs Angle');
-% legend('Obstacle distance','Laser scanner safety line 10 cm')
+xlabel('$Angle [rad]$','interpreter','latex','FontSize',14);
+ylabel('$Obstacle [m]$','interpreter','latex','FontSize',14);
grid on;
axis([-2.23 2.23 -1 10]);
-subplot(1,2,1)
-% figure;
+subplot(1,2,2)
plot(X_out,Y_out,'b','LineWidth',2);
hold on
plot(X_obst_out,Y_obst_out,'r-','LineWidth',4)
-xlabel('X [m]');
-ylabel('Y [m]');
-title('Scanner Analysis in robot coordinate system ( X_r - Y_r )');
-legend('Obstacles','Laser scanner safety margin (r = 10 cm)');
+xlabel('$ X [m] $','interpreter','latex','FontSize',14);
+ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
+
+l2 = legend('${Obstacles}$', '${Safety Margin (r = 10 cm)}$');
+set(l2,'interpreter','latex','FontSize',12);
+
grid on;
axis([-1.2 5 -3.5 1.5]);