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‎MobileRoboticsToolbox.prj

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<deployment-project plugin="plugin.toolbox" plugin-version="1.0">
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<configuration build-checksum="2321520555" file="C:\Projects\MobileRoboticsSimulationToolbox\MobileRoboticsToolbox.prj" location="C:\Projects\MobileRoboticsSimulationToolbox" name="MobileRoboticsToolbox" target="target.toolbox" target-name="Package Toolbox">
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<param.appname>Mobile Robotics Simulation Toolbox</param.appname>
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<param.authnamewatermark>MATLAB and Simulink Robotics Arena Team</param.authnamewatermark>
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<param.email>roboticsarena@mathworks.com</param.email>
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<param.company>The MathWorks, Inc.</param.company>
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<param.summary>MATLAB and Simulink utilities for vehicle kinematics, visualization, and sensor simulation.</param.summary>
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<param.description>This toolbox provides utilities for robot simulation and algorithm development. This includes:
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- 2D kinematic models for robot geometries such as differential drive, three, and four-wheeled vehicles, including forward and inverse kinematics
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- Configurable lidar and object detector simulators
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- Visualization of robotic vehicles and sensors in occupancy grid maps
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- MATLAB and Simulink examples and documentation</param.description>
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<param.screenshot>${PROJECT_ROOT}\src\images\environments.PNG</param.screenshot>
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<param.version>2.1</param.version>
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<param.output>${PROJECT_ROOT}\Mobile Robotics Simulation Toolbox.mltbx</param.output>
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<param.products.name>
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<item>MATLAB</item>
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<item>Simulink</item>
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<item>Control System Toolbox</item>
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<item>Model Predictive Control Toolbox</item>
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<item>Robotics System Toolbox</item>
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<item>Stateflow</item>
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</param.products.name>
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<param.products.id>
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<item>1</item>
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<item>2</item>
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<item>3</item>
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<item>22</item>
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<item>142</item>
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<item>38</item>
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</param.products.id>
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<param.products.version>
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<item>9.6</item>
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<item>9.3</item>
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<item>10.6</item>
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<item>6.3</item>
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<item>2.2</item>
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<item>10.0</item>
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</param.products.version>
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<param.platforms />
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<param.guid>a233d09f-a1ba-411e-919f-6343fc2212b9</param.guid>
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<param.exclude.filters>.git
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internal
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slprj</param.exclude.filters>
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<param.exclude.pcodedmfiles>true</param.exclude.pcodedmfiles>
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<param.examples>&lt;?xml version="1.0" encoding="utf-8"?&gt;
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&lt;examples&gt;
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&lt;exampleCategory name="doc"&gt;
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&lt;example name="GettingStarted" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/GettingStarted.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/GettingStarted.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocDifferentialDrive" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocDifferentialDrive.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocDifferentialDrive.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocFourWheelMecanum" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocFourWheelMecanum.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocFourWheelMecanum.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocFourWheelSteer" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocFourWheelSteer.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocFourWheelSteer.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocGenericOmniwheel" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocGenericOmniwheel.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocGenericOmniwheel.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocLidarSensor" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocLidarSensor.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocLidarSensor.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocMultiRobotEnv" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocMultiRobotEnv.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocMultiRobotEnv.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocObjectDetector" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocObjectDetector.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocObjectDetector.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocRobotDetector" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocRobotDetector.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocRobotDetector.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocTripleOmniwheel" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocTripleOmniwheel.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocTripleOmniwheel.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;example name="mrsDocVisualizer2D" type="html"&gt;
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&lt;file type="source"&gt;/doc/html/mrsDocVisualizer2D.html&lt;/file&gt;
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&lt;file type="main"&gt;/doc/mrsDocVisualizer2D.mlx&lt;/file&gt;
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&lt;file type="thumbnail"/&gt;
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&lt;/example&gt;
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&lt;/exampleCategory&gt;
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&lt;/examples&gt;</param.examples>
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<param.demosxml />
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<param.apps />
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<param.registered.apps />
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<param.docs />
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<param.getting.started.guide>${PROJECT_ROOT}\doc\GettingStarted.mlx</param.getting.started.guide>
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<param.matlabpath.excludes />
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<param.javaclasspath.excludes />
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<param.exported.on.package>true</param.exported.on.package>
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<param.required.addons />
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<param.matlab.project.id />
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<param.matlab.project.name />
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<param.release.start>R2018a</param.release.start>
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<param.release.end>latest</param.release.end>
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<param.release.current.only>false</param.release.current.only>
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<param.compatiblity.windows>true</param.compatiblity.windows>
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<param.compatiblity.macos>true</param.compatiblity.macos>
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<param.compatiblity.linux>true</param.compatiblity.linux>
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<param.compatiblity.matlabonline>true</param.compatiblity.matlabonline>
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<param.installation.map />
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<param.additional.sw.names />
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<param.additional.sw.licenses />
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<param.additional.sw.win.url />
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<param.additional.sw.mac.url />
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<param.additional.sw.linux.url />
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<unset>
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<param.output />
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<param.platforms />
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<param.exclude.pcodedmfiles />
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<param.demosxml />
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<param.apps />
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<param.registered.apps />
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<param.docs />
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<param.matlabpath.excludes />
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<param.javaclasspath.excludes />
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<param.required.addons />
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<param.matlab.project.id />
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<param.matlab.project.name />
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<param.release.current.only />
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<param.compatiblity.windows />
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<param.compatiblity.macos />
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<param.compatiblity.linux />
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<param.compatiblity.matlabonline />
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<param.installation.map />
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<param.additional.sw.names />
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<param.additional.sw.licenses />
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<param.additional.sw.win.url />
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<param.additional.sw.mac.url />
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<param.additional.sw.linux.url />
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</unset>
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<fileset.rootdir>
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<file>${PROJECT_ROOT}</file>
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</fileset.rootdir>
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<fileset.rootfiles>
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<file>${PROJECT_ROOT}\demos.xml</file>
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<file>${PROJECT_ROOT}\doc</file>
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<file>${PROJECT_ROOT}\examples</file>
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<file>${PROJECT_ROOT}\src</file>
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<file>${PROJECT_ROOT}\startMobileRoboticsSimulationToolbox.m</file>
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</fileset.rootfiles>
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<fileset.depfun.included />
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<fileset.depfun.excluded />
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<fileset.package />
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<build-deliverables>
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<file location="${PROJECT_ROOT}" name="Mobile Robotics Simulation Toolbox.mltbx" optional="false">C:\Projects\MobileRoboticsSimulationToolbox\Mobile Robotics Simulation Toolbox.mltbx</file>
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</build-deliverables>
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<workflow />
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<matlab>
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<root>C:\Program Files\MATLAB\R2019a</root>
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<toolboxes>
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<toolbox name="matlabcoder" />
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<toolbox name="embeddedcoder" />
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<toolbox name="gpucoder" />
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<toolbox name="fixedpoint" />
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<toolbox name="matlabhdlcoder" />
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<toolbox name="neuralnetwork" />
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</toolboxes>
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<toolbox>
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<matlabcoder>
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<enabled>true</enabled>
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</matlabcoder>
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</toolbox>
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<toolbox>
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<embeddedcoder>
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<enabled>true</enabled>
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</embeddedcoder>
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</toolbox>
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<toolbox>
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<gpucoder>
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<enabled>true</enabled>
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</gpucoder>
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</toolbox>
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<toolbox>
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<fixedpoint>
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<enabled>true</enabled>
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</fixedpoint>
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</toolbox>
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<toolbox>
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<matlabhdlcoder>
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<enabled>true</enabled>
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</matlabhdlcoder>
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</toolbox>
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<toolbox>
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<neuralnetwork>
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<enabled>true</enabled>
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</neuralnetwork>
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</toolbox>
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</matlab>
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<platform>
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<unix>false</unix>
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<mac>false</mac>
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<windows>true</windows>
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<win2k>false</win2k>
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<winxp>false</winxp>
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<vista>false</vista>
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<linux>false</linux>
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<solaris>false</solaris>
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<osver>10.0</osver>
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<os32>false</os32>
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<os64>true</os64>
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<arch>win64</arch>
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<matlab>true</matlab>
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</platform>
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</configuration>
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</deployment-project>

‎doc/GettingStarted.mlx

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‎doc/html/GettingStarted.html

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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html; charset=utf-8"><meta http-equiv="X-UA-Compatible" content="IE=edge,IE=9,chrome=1"><meta name="generator" content="MATLAB R2019a"><title>Getting Started with Mobile Robotics Simulation Toolbox</title><style type="text/css">.rtcContent { padding: 30px; } .S0 { margin: 3px 10px 5px 4px; padding: 0px; line-height: 28.8px; min-height: 0px; white-space: pre-wrap; color: rgb(213, 80, 0); font-family: Helvetica, Arial, sans-serif; font-style: normal; font-size: 24px; font-weight: 400; text-align: left; }
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.S1 { margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre-wrap; color: rgb(0, 0, 0); font-family: Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; }
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.S2 { margin: 3px 10px 5px 4px; padding: 0px; line-height: 20px; min-height: 0px; white-space: pre-wrap; color: rgb(60, 60, 60); font-family: Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; }
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.S3 { margin: 10px 0px 20px; padding-left: 0px; font-family: Helvetica, Arial, sans-serif; font-size: 14px; }
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.S4 { margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; }</style></head><body><div class = rtcContent><h1 class = 'S0'><span>Getting Started with Mobile Robotics Simulation Toolbox</span></h1><div class = 'S1'><span>Copyright 2018-2019 The MathWorks, Inc.</span></div><h2 class = 'S2'><span>Description</span></h2><div class = 'S1'><span>This toolbox provides utilities for robot simulation and algorithm development. This includes:</span></div><ul class = 'S3'><li class = 'S4'><span>2D kinematic models for robot geometries such as differential drive, three, and four-wheeled vehicles, including forward and inverse kinematics</span></li><li class = 'S4'><span>Configurable lidar and object detector simulators </span></li><li class = 'S4'><span>Visualization of robotic vehicles and sensors in occupancy grid maps</span></li><li class = 'S4'><span>MATLAB and Simulink examples and documentation</span></li></ul><h2 class = 'S2'><span>System Requirements</span></h2><div class = 'S1'><span>This version of the toolbox was developed in MATLAB 9.4 (R2018a) and last tested in MATLAB 9.6 (R2019a).</span></div><div class = 'S1'><span>Product dependencies are:</span></div><ul class = 'S3'><li class = 'S4'><span>MATLAB</span></li><li class = 'S4'><span>Simulink</span></li><li class = 'S4'><span>Stateflow</span></li><li class = 'S4'><span>Robotics System Toolbox</span></li><li class = 'S4'><span>Control System Toolbox + Model Predictive Control Toolbox (optional)</span></li><li class = 'S4'><span>Simscape + Simscape Multibody (optional)</span></li></ul><h2 class = 'S2'><span>Documentation</span></h2><div class = 'S1'><span style=' text-decoration: underline;'>Kinematic Models</span></div><ul class = 'S3'><li class = 'S4'><a href = "matlab:edit mrsDocDifferentialDrive"><span>Differential Drive</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocTripleOmniwheel"><span>Triple Omniwheel</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocGenericOmniwheel"><span>Generic Omniwheel</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocFourWheelSteer"><span>Four-Wheel Steering</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocFourWheelMecanum"><span>Four-Wheel Mecanum</span></a></li></ul><div class = 'S1'><span style=' text-decoration: underline;'>Environment Models</span></div><ul class = 'S3'><li class = 'S4'><a href = "matlab:edit mrsDocVisualizer2D"><span>Robot Visualizer</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocMultiRobotEnv"><span>Multi-Robot Environment</span></a></li></ul><div class = 'S1'><span style=' text-decoration: underline;'>Sensor Models</span></div><ul class = 'S3'><li class = 'S4'><a href = "matlab:edit mrsDocLidarSensor"><span>Lidar Sensor</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocObjectDetector"><span>Object Detector</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDocRobotDetector"><span>Robot Detector</span></a></li></ul><h2 class = 'S2'><span>Examples</span></h2><div class = 'S1'><span>For simple examples outlining usage of individual models, sensors, or visualizers, please refer to the documentation links above.</span></div><div class = 'S1'><span>Below is a list of all the application examples, which can be found in the </span><span style=' font-family: monospace;'>examples</span><span> directory of the toolbox.</span></div><div class = 'S1'><span style=' text-decoration: underline;'>MATLAB Examples</span></div><ul class = 'S3'><li class = 'S4'><a href = "matlab:edit mrsDiffDrivePurePursuit"><span>Waypoint following using the Pure Pursuit Algorithm (Differential Drive)</span></a></li><li class = 'S4'><a href = "matlab:edit mrsFourWheelPurePursuit"><span>Waypoint following using the Pure Pursuit Algorithm (Four-Wheel Steering)</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDiffDriveNavigation"><span>Path planning and following of a differential drive robot</span></a></li><li class = 'S4'><a href = "matlab:edit mrsDiffDrivePathFollowing"><span>Path following and obstacle avoidance of a differential drive robot</span></a></li><li class = 'S4'><a href = "matlab:edit mrsSwarmTeams"><span>Multi-robot swarm behavior</span></a></li><li class = 'S4'><a href = "matlab:edit mrsOmniwheelMPC"><span>Model Predictive Control of three-wheel omniwheel robot</span></a></li></ul><div class = 'S1'><span style=' text-decoration: underline;'>Simulink Examples</span></div><ul class = 'S3'><li class = 'S4'><a href = "matlab:mrsDiffDrivePurePursuitModel"><span>Waypoint following using the Pure Pursuit Algorithm (Differential Drive)</span></a></li><li class = 'S4'><a href = "matlab:mrsFourWheelPurePursuitModel"><span>Waypoint following using the Pure Pursuit Algorithm (Four-Wheel Steering)</span></a></li><li class = 'S4'><a href = "matlab:mrsDiffDriveWaypointLogicModel"><span>Waypoint following using supervisory logic</span></a></li><li class = 'S4'><a href = "matlab:mrsDiffDrivePathFollowingModel"><span>Waypoint following and obstacle avoidance</span></a></li><li class = 'S4'><a href = "matlab:mrsObjectTrackingModel"><span>Object tracking logic</span></a></li><li class = 'S4'><a href = "matlab:mrsMultiRobotAvoidance"><span>Multi-robot obstacle avoidance</span></a></li><li class = 'S4'><a href = "matlab:mrsOmniwheelMPCModel"><span>Model Predictive Control of three-wheel omniwheel robot</span></a></li><li class = 'S4'><a href = "matlab:multiRobotSoccer"><span>Robot Soccer Simulation</span></a></li></ul></div>
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<br>
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<!--
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##### SOURCE BEGIN #####
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%% Getting Started with Mobile Robotics Simulation Toolbox
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% Copyright 2018-2019 The MathWorks, Inc.
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%% Description
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% This toolbox provides utilities for robot simulation and algorithm development.
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% This includes:
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%%
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% * 2D kinematic models for robot geometries such as differential drive, three,
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% and four-wheeled vehicles, including forward and inverse kinematics
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% * Configurable lidar and object detector simulators
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% * Visualization of robotic vehicles and sensors in occupancy grid maps
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% * MATLAB and Simulink examples and documentation
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%% System Requirements
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% This version of the toolbox was developed in MATLAB 9.4 (R2018a) and last
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% tested in MATLAB 9.6 (R2019a).
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%
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% Product dependencies are:
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%%
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% * MATLAB
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% * Simulink
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% * Stateflow
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% * Robotics System Toolbox
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% * Control System Toolbox + Model Predictive Control Toolbox (optional)
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% * Simscape + Simscape Multibody (optional)
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%% Documentation
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% Kinematic Models
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%%
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% * <matlab:edit mrsDocDifferentialDrive Differential Drive>
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% * <matlab:edit mrsDocTripleOmniwheel Triple Omniwheel>
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% * <matlab:edit mrsDocGenericOmniwheel Generic Omniwheel>
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% * <matlab:edit mrsDocFourWheelSteer Four-Wheel Steering>
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% * <matlab:edit mrsDocFourWheelMecanum Four-Wheel Mecanum>
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%%
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% Environment Models
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%%
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% * <matlab:edit mrsDocVisualizer2D Robot Visualizer>
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% * <matlab:edit mrsDocMultiRobotEnv Multi-Robot Environment>
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%%
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% Sensor Models
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%%
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% * <matlab:edit mrsDocLidarSensor Lidar Sensor>
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% * <matlab:edit mrsDocObjectDetector Object Detector>
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% * <matlab:edit mrsDocRobotDetector Robot Detector>
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%% Examples
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% For simple examples outlining usage of individual models, sensors, or visualizers,
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% please refer to the documentation links above.
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%
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% Below is a list of all the application examples, which can be found in the
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% |examples| directory of the toolbox.
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%%
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% MATLAB Examples
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%%
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% * <matlab:edit mrsDiffDrivePurePursuit Waypoint following using the Pure Pursuit
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% Algorithm (Differential Drive)>
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% * <matlab:edit mrsFourWheelPurePursuit Waypoint following using the Pure Pursuit
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% Algorithm (Four-Wheel Steering)>
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% * <matlab:edit mrsDiffDriveNavigation Path planning and following of a differential
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% drive robot>
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% * <matlab:edit mrsDiffDrivePathFollowing Path following and obstacle avoidance
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% of a differential drive robot>
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% * <matlab:edit mrsSwarmTeams Multi-robot swarm behavior>
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% * <matlab:edit mrsOmniwheelMPC Model Predictive Control of three-wheel omniwheel
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% robot>
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%%
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% Simulink Examples
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%%
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% * <matlab:mrsDiffDrivePurePursuitModel Waypoint following using the Pure Pursuit
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% Algorithm (Differential Drive)>
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% * <matlab:mrsFourWheelPurePursuitModel Waypoint following using the Pure Pursuit
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% Algorithm (Four-Wheel Steering)>
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% * <matlab:mrsDiffDriveWaypointLogicModel Waypoint following using supervisory
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% logic>
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% * <matlab:mrsDiffDrivePathFollowingModel Waypoint following and obstacle avoidance>
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% * <matlab:mrsObjectTrackingModel Object tracking logic>
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% * <matlab:mrsMultiRobotAvoidance Multi-robot obstacle avoidance>
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% * <matlab:mrsOmniwheelMPCModel Model Predictive Control of three-wheel omniwheel
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% robot>
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% * <matlab:multiRobotSoccer Robot Soccer Simulation>
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