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Commit 51806432 authored by Farid Alijani's avatar Farid Alijani
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Report figures are fixed

parent e82e26db
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Files_4_thesis/Different_angle/docking_different_angle.m
View file @ 51806432
......@@ -202,6 +202,8 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
% marker position
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
hold on
......@@ -209,14 +211,12 @@ plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
title('Marker Pose Along x_{mar} - axis');
% set(t,'interpreter','latex');
% xlabel('$ time [sec]$','interpreter','latex');
title('Pose estimation in marker coordinate system');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
grid on
% axis([0 45 -.01 .2]);
l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
subplot(3,1,2);
plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
......@@ -224,12 +224,7 @@ hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
title('Marker Pose Along y_{mar} - axis');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
grid on
% axis([0 46 -.2 .1]);
subplot(3,1,3);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
......@@ -238,14 +233,13 @@ plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
hold on
plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
title('Marker Pose Along \theta_{mar} - axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
grid on
% axis([0 46 -.1 .15]);
% control signals
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
......@@ -254,14 +248,11 @@ plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
title('Control Signal Along x_{Rob} - axis');
% xlabel('$ time [sec]$','interpreter','latex');
title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
grid on
axis([0 45 -.01 .2]);
l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff')
subplot(3,1,2);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
......@@ -269,13 +260,8 @@ hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
title('Control Signal Along y_{Rob} - axis');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
grid on
% axis([0 46 -.2 .1]);
subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
......@@ -283,14 +269,8 @@ hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
title('Control Signal Along \theta_{Rob} - axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
grid on
% axis([0 46 -.1 .15]);
% Trajectory
......@@ -322,6 +302,8 @@ grid on
% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
%
figure;
set(gcf,'color','white');
subplot(1,3,1);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
% hold on
......@@ -340,11 +322,9 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Entire Area');
xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
title('Approach zone + SM zone + Target area');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
axis([-.4 .4 .18 1.4]);
grid on
subplot(1,3,2);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
......@@ -355,11 +335,9 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',1.6);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('SM zone');
title('SM zone + Target area');
xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
axis([-.01 0.02 .195 .32]);
grid on
subplot(1,3,3);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
......@@ -370,11 +348,8 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Target');
xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
title('Target area');
axis([0.0125 .015 .1995 .2055]);
grid on
l = legend('${Config. 3}$', '${Center}$','${Config. 4}$','Target');
set(l,'interpreter','latex','FontSize',11);
......
Files_4_thesis/Different_controllers/docking_with_PID_controller.m
View file @ 51806432
......@@ -309,6 +309,8 @@ Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
% marker position
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
hold on
......@@ -317,16 +319,12 @@ hold on
plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
hold on
plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
title('Pose estimation in marker coordinate system');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
title('Marker Pose Along X_{mar} - Axis');
% set(t,'interpreter','latex');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12);
grid on
% axis([0 45 -.01 .2]);
l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
subplot(3,1,2);
plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
......@@ -337,11 +335,7 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
hold on
plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
title('Marker Pose Along Y_{mar} - Axis');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12);
grid on
% axis([0 46 -.2 .1]);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
subplot(3,1,3);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
......@@ -352,14 +346,13 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
hold on
plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
title('Marker Pose Along \theta_{mar} - Axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12);
grid on
% axis([0 46 -.1 .15]);
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
% control signals
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
......@@ -370,13 +363,13 @@ plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
hold on
plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
title('Control Signal Along X_{rob} - Axis');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
grid on
title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
axis([0 45 -.01 .2]);
l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
subplot(3,1,2);
......@@ -387,13 +380,7 @@ hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3);
hold on
plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
title('Control Signal Along Y_{rob} - Axis');
% xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
grid on
% axis([0 46 -.2 .1]);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
......@@ -403,13 +390,8 @@ hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
hold on
plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
title('Control Signal Along \theta_{rob} - Axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12);
grid on
% axis([0 46 -.1 .15]);
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
% Trajectory
......@@ -442,6 +424,8 @@ grid on
% quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
figure;
set(gcf,'color','white');
subplot(1,3,1);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
......@@ -465,11 +449,9 @@ quiver(Pose_Y_data_4,Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Entire Area');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
title('Approach zone + SM zone + Target area');
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
axis([-.1 .4 .18 1.4]);
grid on
subplot(1,3,2);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
......@@ -482,11 +464,9 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',1.6);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('SM zone');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
title('SM zone + Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
axis([-.005 0.045 .195 .32]);
grid on
subplot(1,3,3);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
......@@ -499,17 +479,18 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Target');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
title('Target area');
axis([0.0065 .0095 .1995 .2055]);
grid on
l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');
% sampling time
figure;
set(gcf,'color','white');
subplot(2,2,1);
plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
hold on
......@@ -527,10 +508,11 @@ hold on;
plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
title({'Android Camera';'Position'});
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
axis([0 234 .068 .3]);
l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
set(l4,'interpreter','latex','FontSize',13);
legend('boxoff');
subplot(2,2,3);
plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
......@@ -553,8 +535,9 @@ xlabel('samples','interpreter','latex','FontSize',13);
axis([0 234 .068 .3]);
figure;
set(gcf,'color','white');
subplot(2,1,1);
pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
hold on
......@@ -566,13 +549,14 @@ pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Position');
ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
set(l5,'interpreter','latex','FontSize',12);
% legend('boxoff');
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
%
% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l5,'interpreter','latex','FontSize',11);
% leg =
legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
legend('boxoff');
subplot(2,1,2);
p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
......@@ -585,11 +569,11 @@ p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Velocity');
ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
xlabel('Sample','interpreter','latex','FontSize',13);
l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
set(l6,'interpreter','latex','FontSize',12);
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% xlabel('Sample','interpreter','latex','FontSize',13);
%
% l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
......
Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
View file @ 51806432
......@@ -239,46 +239,51 @@ xlabel('Time [sec]');
ylabel('\theta [rad]');
grid on
% control signals
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2);
hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',2);
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.6);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2);
title('Control Signal X -axis');
ylabel('$\dot{X}$ [m/s]','interpreter','latex');
grid on
title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
% grid on
axis([0 60 -.01 .2]);
l = legend('$\dot{X}$ = 0.15 [m/sec]','$\dot{X}$ = 0.1 [m/sec]','$\dot{X}$ = 0.16 [m/sec]');
set(l,'interpreter','latex');
l = legend('$\dot{x}_{Rob}$ = 0.15 [m/s]','$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]');
set(l,'interpreter','latex','FontSize',12);
legend('boxoff');
subplot(3,1,2);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.5);
hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.8);
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.5);
hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.1);
title('Control Signal Y -axis');
ylabel('$\dot{Y}$ [m/s]','interpreter','latex');
grid on
% title('Control Signal y_{Rob} - axis');
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
% grid on
% axis([0 46 -.2 .1]);
subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.5);
hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.8);
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.45);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.1);
title('Control Signal \theta -axis');
xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{\theta}$ [rad/s]','interpreter','latex');
grid on
% title('Control Signal \theta_{Rob} - axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
% grid on
% axis([0 46 -.1 .15]);
......@@ -310,8 +315,9 @@ grid on
% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
%
figure;
set(gcf,'color','white');
subplot(1,3,1);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
......@@ -321,11 +327,14 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4)
title('Docking Trajectroy (Whole area)');
xlabel('${Y}$ [m]','interpreter','latex');
ylabel('${X}$ [m]','interpreter','latex');
title('Approach zone + SM zone + Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
axis([-.3 .4 .18 1.4]);
grid on
% grid on
l2 = legend('$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]','Target','Location','northwest');
set(l2,'interpreter','latex');
legend('boxoff');
subplot(1,3,2);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
......@@ -335,11 +344,11 @@ hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Docking Trajectroy (SM zone)');
xlabel('${Y}$ [m]','interpreter','latex');
title('SM zone + Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex');
axis([-.01 0.06 .195 .32]);
grid on
% grid on
subplot(1,3,3);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
......@@ -349,17 +358,16 @@ hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Docking Trajectroy (reference area)');
xlabel('${Y}$ [m]','interpreter','latex');
title('Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex');
axis([0.006 .011 .198 .204]);
grid on
% grid on
% l2 = legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
l2 = legend('$\dot{X}$ = 0.15 [m/sec]','$\dot{X}$ = 0.1 [m/sec]','$\dot{X}$ = 0.16 [m/sec]','Reference Position');
set(l2,'interpreter','latex');
figure;
set(gcf,'color','white');
subplot(2,1,1);
plot(diff(TimeP_ros_data_1)/1e9,'g')
hold on
......@@ -388,8 +396,9 @@ ylabel('Sampling time');
% xlabel('samples');
% ylabel('time step');
% axis([150 250 0 .02]);
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(diff(Pose_X_data_1));
title('X-Pose diff');
......
Files_4_thesis/scanner_analysis.m
View file @ 51806432
......@@ -67,14 +67,14 @@ 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);
plot(angle,s_exp_4,'g--','LineWidth',1.1);
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','FontSize',14);
ylabel('${Obstacle [m]}$','interpreter','latex','FontSize',14);
ylabel('${Distance [m]}$','interpreter','latex','FontSize',14);
axis([-.09 .42 .08 .2]);
% legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
subplot(1,2,2);
......@@ -84,7 +84,7 @@ 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);
plot(X_exp_4,Y_exp_4,'g--','LineWidth',1.1);
hold on
% plot(X_exp_5,Y_exp_5,'b--','LineWidth',.1);
% hold on
......@@ -93,7 +93,7 @@ title('');
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');
l = legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve','Orientation','horizontal');
set(l,'interpreter','latex','FontSize',13);
%% docked robot with marker vs. docked robot without marker!
......@@ -146,10 +146,10 @@ plot(X_DockedwithNOmar,Y_DockedwithNOmar);
hold on;
plot(X_obst_DockedwithNOmar,Y_obst_DockedwithNOmar,'r','LineWidth',3);
% xlabel('$ X [m] $','interpreter','latex','FontSize',14);
ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
title('Scanner Analysis WITHOUT marker, Top View');
% ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
title('No marker in docking platform');
legend('Obstacles','Laser scanner safety curve (r = 10 cm)');
grid on
% grid on
axis([-2.5 4 -4 1]);
subplot(3,1,2);
......@@ -157,8 +157,8 @@ plot(X_DockedwithMar,Y_DockedwithMar,'b');
hold on;
plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
title('Scanner Analysis WITH marker, Top View');
grid on
title('Marker circular bottle in docking platform');
% grid on
axis([-2.5 4 -4 1]);
subplot(3,1,3);
......@@ -166,8 +166,9 @@ plot(X_DockedwithMar,Y_DockedwithMar,'b');
hold on;
plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',.3);
xlabel('$ X [m] $','interpreter','latex','FontSize',14);
ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
grid on
% ylabel('$ Y [m] $','interpreter','latex','FontSize',14);