deadreckon1.m

该程序用PID系统实现差动转向车辆控制

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function [theta,x,y]=deadReckonSpace(xoyo,sr,sl,theta0,bw)

x0=xoyo(1);
y0=xoyo(2);
theta=theta0+(sr-sl)/bw;
x=x0+(sr+sl)/2*(cos(theta));
y=y0+(sr+sl)/2*(sin(theta));


end