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NDc?׼^udwmojAbcd-h/oy;-@ކLcB'o TĎv\&`# t13B{ibX˅b8UB13;9`HԢk' EӾx@׈;w}4=Jssv:%Qhinz $гuVW3Ѵh1vFۋ |{|"Hǜ5#@ng016{͜TWЧ+`))Hk/"0k MҶEӁȝ=⎔9Wͮ \:` ߓH8k=5!ڋ;"Do|< E2 4Ӥ&K_n'rDy0GagL($dL Bq" +Fr<FJ:ptٌ544 9<(H,r$OEMm3Fp\0P:)l/dDǰ &d%*kAhWAW:[ J$hq!ߨx|'tZўh#^yR'STbP)6j񤘇y{ 8-5Ժ=ղnl5?_. 8 ;4sUʕP[#ΑNgx: JuP\cEul` Hǜ5EeMSZRu1tx?+ήk-&i/n: F+@պCֆtpN H,w4tnNMKGj6A"hjӯG؟Oq¹3vS ;&[gZWhܜ-!{^/kQE@Fk3YofK c$f40 Ԩ.R2O4L)ABYO0=TcwbH5LY;ӏ/()r5Y5宀"Mt*nl+fY`whzʝ12[}]"/{<`;霬hAg;TF$27!Mx>f `F> RO39A5/=@ZG3Iin47r_s3׷aAZ7)?9vV][-:_/"0k_ /)[]\q{i:所&nu,8xEX*pp[ŶhEWzsI^GNϭZ_ʇ^?^wIZ_NnmWJDN^_PrsMC9ɻoY}/e[?J|Ӂ̢vz 2`zGiʞRcGH5餬a7s`֧7vr`Tr` w`0;yX2۽o<$#eZ.qRO,p)J #&TÊXo5̬$yN`)c& :I2h=#ېA3UIzZn;֖!mlMXDYkIߍ~6Es4jZTkkPi>:K RpqT]iE| JA-\A+wIi3ho9瞃C |^WQIxn'4ί?5jtR .ߣ;j^ih1/oF#@fZ 3j!fz F #|=DtϨ_u~C):_~XjN6Nv-GC⤌[0?NŌVCj:tK7瞆hip'Rބl/8)R@4ˀ;"ŭ#%Pz+zdu 33-{g}c/M—&KR!B @P~{KK[Rv,=JNUg7&#VRU.Lq4"rrif#+ ,/@`(o7v4GO,Wwvjp^;7ZL=v͍3C#Eɏ~M4ÃGkds4QIiB ogJk=2Ǖ⩹ڡPi6N+gr3zzLngAì}5gf'A6qSt֕lEchlyudt36iHqS 3]T|MZ2t2 xGL 7KfD^[yK!>7Uy^1/ צO/Oo@3osY뵡 c$Z&ZsÛ'Εq"/ՀdU%-ۺSxoTa۷NBMN6(tPJ@ @ @@@@@`@```@@@@ @ @ @ @@ @ @ ` @` ` ` @ @ @ @ @@@@@ @@ @ @ @@@@@@@@@@`@@`@`@`@@@@@@@@@@@@@@@@@@@@@`@``` `@ ` ` `@`@@`@`@```@```````@````@````@````@```@ @ @@@@@`@```@@@@@ @ @@@@@`@```@@@@@ @ @@@@@`@```@@@@@ @ @@@@@`@```@@@@Copyright 1999, by Professor Jong-Hwan Kim, Korea Advanced Institute of Science and Technology (KAIST). All rights reserved. Reproduction or translation of any part of this work is unlawful. Request for permission or further information should be addressed to Professor Jong-Hwan Kim at <johkim@vivaldi.kaist.ac.kr> or <Tel: +82-42-869-3448>. 8. A aϡa 5 Ae i ae aA aA ae Posture qЁA wea. aAe X-Y a΁A ᶡ(x,y) ae wb()i ea. Ae ee ᶡ Aᴅe aa ⸡A ae wbi Aqa e Ui i a. 8.1 Posture qЁ Posture qЁe i ae aA(ᶡ wb) e qЁa. b, ae aA() eс aA() ai baa i ae aA aA ea. a 8.1A ia͡e ae ᶡ ሡ aa , b ae aq { ᴥa. a e xaA ae ᶡ ሡa, e yaA ae ᶡ ሡaa, e ⸡A ae wb e eс wba. ai ᶁ e a E aƁ bi eee (Proportional)Ai awaa aq { ea: a e bb ሡa baA Сe w ta. e Ai ᶁe ᶁ A bA ሡa ba eA e eѷ,i ai a. i PD(Proportional-Derivative)Aᴡa ea. (8.2)i waa E a e aƁ bi e e ae aA eaa A Ea. aСe A Ae e i a aa A aavi a 0 Ae e ρС ea. A ʼnaae aA a aaea. aqe (8.2)i a ee Posture (aA) qЁ aa. x, y ae bb PositonOfHomeRobot[whichrobot][0] PositionOfHomeRobot[whichrobot][1]A i a. a whichrobote i iaС e 夡i aaȁa, Aa 0, 1, 2 ti aa. wbe AngleOfHomeRobotA i a. void Posture(int whichrobot, double x, double y) { int desired_angle,theta_e, vl, vr; // e double dx,dy,distance_e, Kd=1.0, Ka=0.1; // dx = x-PositionOfHomeRobot[whichrobot][0]; // xa ሡa dy = y-PositionOfHomeRobot[whichrobot][1]; // ya ሡa distance_e = sqrt(dx*dx+dy*dy); // ae ᶡ ሡa // e Aᴡ i ea. if(distance_e > 100) Kd = 1.0, Ka = 0.12; // ሡaa 100cm w else if(distance_e > 50) Kd = 1.2, Ka = 0.125; // ሡaa 50cm w else if(distance_e > 30) Kd = 1.4, Ka = 0.13; // ሡaa 30cm w else if(distance_e > 20) Kd = 2.0, Ka = 0.14; // ሡaa 20cm w ^