Get a LtvSystem object for the Dubins car model with known turning rate
sequence
============================================================================
Usage:
------
% Known turning rate sequence
sampling_time = 0.1; % Sampling time
time_horizon = 50; % Max number of time steps in
% simulation
init_heading = pi/10; % Initial heading
% Create a constant turning rate sequence
omega = pi/time_horizon/sampling_time;
turning_rate = omega*ones(time_horizon,1);
% Input space definition
umax = 6;
input_space = Polyhedron('lb',0,'ub',umax);
% Disturbance matrix and random vector definition
dist_matrix = eye(2);
eta_dist = RandomVector('Gaussian',zeros(2,1), 0.001 * eye(2));
[sys, heading_vec] = getDubinsCarLtv('add-dist', turning_rate, ...
init_heading, sampling_time, input_space, dist_matrix, eta_dist);
============================================================================
sys = getDubinsCarLtv(type, turning_rate_seq, initial_heading, sampling_time,
varargin)
Inputs:
-------
type - String describing the type of Dubins' vehicle
dynamics ('add-dist'/'vel-dist'). Based on type,
additional arguments are required (See below)
turning_rate_seq - Known turning rate sequence (column vector of length
time_horizon)
initial_heading - Initial heading angle
sampling_time - Sampling time for the system
Required additional arguments based on type:
type: 'add-dist' (Additive disturbance with velocity as input)
velocity_input - Bounds on the velocity (1-dimensional Polyhedron
object)
dist_matrix - Disturbance matrix for the additive disturbance
dist - Disturbance
type = 'vel-dist' (Velocity is the disturbance)
velocity_dist - Velocity disturbance
Outputs:
--------
sys - LtvSystem object describing the Dubin's car
=============================================================================
This function is part of the Stochastic Reachability Toolbox.
License for the use of this function is given in
https://github.com/abyvinod/SReachTools/blob/master/LICENSE