deadreckonaccelerationrk4.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 position=deadReckonAcceleration(ar,al,vr,vl,t,b)
%%given the ar=right accelerationt
%% al=left acceleration
%% sr=space run for the right wheel
%% sl=space run for the left wheel
%% use runge kutta4 to find the final position



[Tx,X]=Rungekutta4(t(0),t(end),nsteps,0,f1);
f2='(A*t+B)*sin(C*t^2+D*t+theta0)';
[Ty,Y]=Rungekutta4(t(0),t(end),nsteps,0,f2);
position=[X(end,1),Y(end,1),theta];

end