I have to make a 2D Map of an outline around which I moved my robot

I have the x coordinates, the y coordinates from the starting point. I also have the angle and the distance from the obstacle from the left side of the robot using an IR sensor. I have the formula on how tto do it + what the expected result might look like. I am not very experienced in Matlab so am not able to write the code. Like I have to take sin of a whole table of values which results in an error. The graph is supposed to be localized from the starting point as the origin which also I do not understand how to do. The sample output and the reading are attached below if they help.

Answer 1

[Ayush]

Hi Muhammad,

I understand that you would like to create a 2D map for your robot’s movement.

It can be done in the following manner:

1. After importing the table from the .xlsx file as a matrix, extract the columns individually for “x”, “y”, “theta” and “r”.

2. With the given equation, use the “sin” and “cos” function to calculate the values with the theta column. You can refer to the below documentation to know more about the “sin” and “cos” function:

- Sine of argument in radians - MATLAB sin - MathWorks India

- Cosine of argument in radians - MATLAB cos - MathWorks India

3. Solve for “x1” and “y1” by doing symbolic array multiplication using the “.*” operation. You can refer to the below documentation to know more about symbolic array multiplication:

- Symbolic array multiplication - MATLAB times .* - MathWorks India

Here is the code snippet for the same:

x1=x+xr.*theta_vec_cos-yr.*theta_vec_sin; 
y1=y+xr.*theta_vec_sin+yr.*theta_vec_cos; 

4. Use the “scatter” function to plot the resulting “x1” and “y1” vectors. You can refer to the below documentation to know more about the “scatter” function:

- Scatter plot - MATLAB scatter - MathWorks India

Hope it helps,

Regards,

Ayush Misra