21 lines
342 B
Matlab
21 lines
342 B
Matlab
% Christian Potthast
|
|
% random walk from a robot
|
|
|
|
function pose = random_walk(initial, velocity, steps)
|
|
|
|
pose(:,1) = initial;
|
|
bearing = 1;
|
|
|
|
|
|
for step = 2:steps
|
|
|
|
bearing = bearing + 0.05*randn();
|
|
|
|
pose(1,step) = pose(1,step-1) + sin(bearing) * velocity;
|
|
pose(2,step) = pose(2,step-1) + cos(bearing) * velocity;
|
|
|
|
end
|
|
|
|
|
|
|