ackermannpredict.eps

Mobile Robots 非线性跟踪

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%%CreationDate: 07/12/2007  21:50:09
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/dpi2point 12 def
portraitMode 0204 7344 csm

  510   214  5861  4636 MR c np
85 dict begin %Colortable dictionary
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c0
1 j
1 sg
   0    0 6913 5185 PR
6 w
0 4017 5356 0 0 -4017 899 4510 4 MP
PP
-5356 0 0 4017 5356 0 0 -4017 899 4510 5 MP stroke
4 w
DO
0 sg
 899 4510 mt  899  493 L
 899  493 mt  899  493 L
1568 4510 mt 1568  493 L
1568  493 mt 1568  493 L
2238 4510 mt 2238  493 L
2238  493 mt 2238  493 L
2907 4510 mt 2907  493 L
2907  493 mt 2907  493 L
3577 4510 mt 3577  493 L
3577  493 mt 3577  493 L
4246 4510 mt 4246  493 L
4246  493 mt 4246  493 L
4916 4510 mt 4916  493 L
4916  493 mt 4916  493 L
5585 4510 mt 5585  493 L
5585  493 mt 5585  493 L
6255 4510 mt 6255  493 L
6255  493 mt 6255  493 L
 899 4510 mt 6255 4510 L
6255 4510 mt 6255 4510 L
 899 3840 mt 6255 3840 L
6255 3840 mt 6255 3840 L
 899 3171 mt 6255 3171 L
6255 3171 mt 6255 3171 L
 899 2501 mt 6255 2501 L
6255 2501 mt 6255 2501 L
 899 1832 mt 6255 1832 L
6255 1832 mt 6255 1832 L
 899 1162 mt 6255 1162 L
6255 1162 mt 6255 1162 L
 899  493 mt 6255  493 L
6255  493 mt 6255  493 L
SO
6 w
 899 4510 mt 6255 4510 L
 899 4510 mt  899  493 L
 899 4510 mt  899 4456 L
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 763 4655 mt 
(-20) s
1568 4510 mt 1568 4456 L
1432 4655 mt 
(-15) s
2238 4510 mt 2238 4456 L
2102 4655 mt 
(-10) s
2907 4510 mt 2907 4456 L
2804 4655 mt 
(-5) s
3577 4510 mt 3577 4456 L
3544 4655 mt 
(0) s
4246 4510 mt 4246 4456 L
4213 4655 mt 
(5) s
4916 4510 mt 4916 4456 L
4850 4655 mt 
(10) s
5585 4510 mt 5585 4456 L
5519 4655 mt 
(15) s
6255 4510 mt 6255 4456 L
6189 4655 mt 
(20) s
 899 4510 mt  952 4510 L
 728 4554 mt 
(-5) s
 899 3840 mt  952 3840 L
 798 3884 mt 
(0) s
 899 3171 mt  952 3171 L
 798 3215 mt 
(5) s
 899 2501 mt  952 2501 L
 731 2545 mt 
(10) s
 899 1832 mt  952 1832 L
 731 1876 mt 
(15) s
 899 1162 mt  952 1162 L
 731 1206 mt 
(20) s
 899  493 mt  952  493 L
 731  537 mt 
(25) s
3546 4798 mt 
(x) s
 646 2532 mt  -90 rotate
(y) s
90 rotate
2482  398 mt 
(uncertainty bounds for Ackermann model) s
gs 899 493 5357 4018 MR c np
3 0 3 -1 2 0 3 -1 3 -1 3 -2 2 -2 2 -2 
2 -2 2 -2 2 -3 1 -3 1 -3 1 -2 0 -9 -1 -3 
0 -3 -1 -3 -2 -3 -1 -2 -2 -3 -2 -2 -3 -2 -2 -1 
-3 -2 -2 -1 -3 -1 -3 -1 -3 0 -3 0 -3 0 -3 1 
-3 1 -3 1 -2 1 -3 2 -2 2 -2 2 -2 2 -2 3 
-1 3 -1 2 -1 3 -1 3 0 6 1 3 0 3 1 3 
1 3 2 2 2 3 2 2 2 2 2 2 3 1 2 2 
3 1 3 0 3 1 3 0 3590 3810 61 MP stroke
1.2 w
-428 -80 428 -80 0 160 3483 3760 4 MP stroke
6 w
gs 3517 3767 147 147 MR c np
3554 3840 mt 3626 3840 L
3590 3804 mt 3590 3876 L
gr

gr

  36   36 3589 3840 FO
gs 899 493 5357 4018 MR c np
0 3 -1 3 0 3 -1 3 -1 2 -2 3 -2 3 -1 2 
-3 2 -2 2 -3 1 -2 2 -3 1 -3 1 -3 0 -3 0 
-3 0 -3 0 -3 -1 -3 -1 -2 -1 -3 -2 -2 -1 -3 -2 
-2 -3 -2 -2 -1 -3 -1 -2 -1 -3 -1 -3 -1 -3 0 -6 
1 -3 1 -3 1 -3 1 -3 2 -2 2 -3 2 -2 2 -2 
2 -1 3 -2 3 -1 3 -1 3 -1 3 0 3 0 3 0 
3 1 2 1 3 1 3 1 2 2 3 2 2 2 2 2 
1 3 2 2 1 3 1 3 0 3 1 3 3957 3798 63 MP stroke
1.2 w
-440 26 372 -179 68 153 3852 3746 4 MP stroke
6 w
gs 3915 3724 147 147 MR c np
3952 3797 mt 4024 3797 L
3988 3761 mt 3988 3833 L
gr

gr

  36   36 3988 3794 FO
gs 899 493 5357 4018 MR c np
2 2 1 3 1 3 1 4 0 9 -1 3 -1 3 -1 3 
-1 3 -2 2 -2 3 -2 2 -2 2 -3 1 -3 2 -3 1 
-2 1 -4 0 -3 0 -3 0 -3 -1 -3 -1 -3 -1 -3 -1 
-2 -2 -3 -2 -2 -2 -2 -3 -2 -2 -2 -3 -1 -3 -1 -3 
-1 -3 -1 -3 0 -7 1 -3 1 -3 1 -3 1 -3 1 -2 
2 -3 2 -2 3 -2 2 -2 3 -1 3 -1 3 -1 3 -1 
3 0 3 0 3 0 3 1 3 1 3 2 2 1 3 2 
3 2 2 3 2 2 1 3 4261 3562 61 MP stroke
1.2 w
-267 265 69 -327 198 62 4146 3590 4 MP stroke
6 w
gs 4214 3474 147 147 MR c np
4251 3547 mt 4323 3547 L
4287 3511 mt 4287 3583 L
gr

gr

  36   36 4291 3540 FO
gs 899 493 5357 4018 MR c np
1 -3 2 -2 2 -3 2 -2 3 -2 3 -2 3 -1 3 -1 
3 -1 4 -1 3 0 4 0 3 1 4 0 3 2 4 1