% THIS SCRIPT INITILIZES THE REQUIRED PARAMETERS

%% Clear workspace

clear;

clc;

%% SAMPLING TIME

%h= 0.1; Crashes into obstacle

h= 0.05;

%% SIMULATION PARAMETERS

% Robot Longitudinal Velocity (m.s^-1)

robot_vel= 1;

% Robot Initial Position

robot_init_pos_path= [0 0]';

%robot_init_pos_sim= robot_init_pos_path;

robot_init_pos_sim= [0 0]';

% Goal point

X_goal= [50 31]';

%X_goal= 50.*[rand() rand()]';

% Initial Yaw Angle

yaw_ang_init= 0;

%% ROBOT MODEL PARAMETERS

% Mass(kg)

mass= 505;

% Yaw mass moment of Inertia(kg.m^2)

I_zz= 808.5;

% Front tyre cornering stiffness(N/deg)

%C_f= 1420;

C_f= 40e3;

% Rear tyre cornering stiffness(N/deg)

%C_r= 1420;

C_r= 40e3;

% Longitudinal distance of front wheel from center of mass(m)

l_f= 0.35;

% Longitudinal distance of back wheels from center of mass(m)

l_r= 0.4125;

%% TRAJECTORY PARAMETERS

% Attractive Potential Constant

k_att= 0.01;

% Repulsive Potential Constant

k_rep= 10;

% Obstacle Radius (Assuming circular obstacle of constant radius) (m)

obs_radius= 1;

% Maximum Longitudinal Velocity

V_MAX= robot_vel*3; % m/sec

% Maximum Longitudinal Deceleration

A_MAX= 0.2; % m/sec^2

% Obstacle Influence Range

rol_not= V_MAX/(2*A_MAX);

% Stopping Criteria

stopping_criteria= 0.001; % Stop when Attractive Potential is at/lower than this value

% Robot Size Alllowance

robot_size_allowance= 1.5; % 150 cm

% Obstacles (sharp corners)

obstacles= [ [14.87 33.28]' [10 8]' [26 12]' [19 19]' [34 23]' ];

% Obstacles (mild corners)

%obstacles= [ [14.87 33.28]' [32 30]' [19 19]' [34.49 17.25]' [27 18]'];

% Maximum number of iterations

max_iterations= 150000;