Error while running simulink bicycle kinematic model for mobile robot

Hi, Im trying to get a hang of how the models in Peter Corke's Robotics Toolbox are working especailly the sl_pursuit simulink model. The downloaded version of the model is working, not great bc the controllers aren't tuned but nontheless it is working, but when I try to recreate the model or just ude the bicycle kinematic model from toolbox library there is a dimensiosns error. Outpu for "product" block doesnt match the dimensions of "integrator" block.

Is there any way to get rid of that error? Also, why does it work in his model but straight from the library it doesn't?

Answer 1

[Anurag Ojha]

Hello Dominika,

To resolve “Error in port width and dimension” you can use the reshape block. It changes the dimensionality of the input signal to a dimensionality that you specify, using the Output dimensionality parameter.

For example, you can use the reshape block to change an N-element vector to a 1-by-N or N-by-1 matrix signal.

Adding MATLAB documentation of reshape block for your reference:

• https://www.mathworks.com/help/releases/R2020a/simulink/slref/reshape.html