clear();
clf();

XMAX=500;
YMAX=500;

figur=gcf(); // Handler der Grafik holen
figur.figure_size= [500,500];
achsen = gca();
achsen.data_bounds = [0,0;YMAX,XMAX];//Achsen-Definitionsbereich

SENSORBREITE=7;
SENSORRADIUS = round(    (SENSORBREITE-1)/2   );

plot([0,500],[0,0]);
plot([0,500],[500,500]);
plot([0,0.01],[0,0]);

plot([100,400],[100,100]);
plot([100,400],[400,400]);
plot([100,100.01],[100,400]);
plot([400,400.01],[100,400]);

plot([150,350],[150,150]);
plot([150,350],[350,350]);
plot([150,150.01],[150,350]);
plot([350,350.01],[150,350]);


bodenmatrix = zeros(YMAX,XMAX);
sensormatrix = zeros(SENSORBREITE,SENSORBREITE);

for xx=100:400
    for yy=100:400
        bodenmatrix(yy,xx)=4;
    end
end
for xx=150:350
    for yy=150:350
        bodenmatrix(yy,xx)=0;
    end
end


Matplot1(sensormatrix,[0,0,SENSORBREITE,SENSORBREITE]); //Matrix füllt ganzen Bereich aus, Default-Colormap.
grafik = gce();
grafik.rect = [0,0,SENSORBREITE*8,SENSORBREITE*8];

x=120;
y=100;
t=0;
dt=0.03;
m=1.0;
D=0.1;
vx=0.0;
vy=0.0;
Fx=0.0;
Fy=0.0;
ZX=0;
ZY=0;
for i=1:1000

    xalt = x;
    yalt = y;

    ax = (Fx - D*vx)/m;
    ay = (Fy - D*vy)/m;
    vx = vx + dt*ax;
    vy = vy + dt*ay;
     x =  x + dt*vx;
     y =  y + dt*vy;

    //Sensormatrix aktualisieren:
    ix=round(x);
    iy=YMAX - round(y);  //Umgekehrt, da Koord. von bodenmatrix umgekehrt gegenüber plot.
    for xx=1:SENSORBREITE
        for yy=1:SENSORBREITE
            xb = xx+ix-SENSORRADIUS;
            yb = yy+iy-SENSORRADIUS;
            if (xb>0 & xb<=XMAX & yb>0 & yb<=YMAX) then 
                sensormatrix(yy,xx) = bodenmatrix(yy+iy-SENSORRADIUS,xx+ix-SENSORRADIUS);
            else
                sensormatrix(yy,xx) = 0;
            end 
        end
    end

    //Konzept für die Regelung -------------------------

    gewichte = [30,20,10,0,-10,-20,-30];
    wx = gewichte*sensormatrix(4,1:7)';
    wy = -gewichte*sensormatrix(1:7,4);

    Fx =  -30*wx + ZX;
    Fy =  -30*wy + ZY;

    if (wy>0 & wx==0) then
        ZX=20;
    elseif (wy<0 & wx==0) then
        ZX=-20;
    end

    if (wy==0 & wx>0) then
        ZY=20;
    elseif (wy==0 & wx<0) then
        ZY=-20;
    end

    //ENDE Konzept für die Regelung -------------------------

    sleep(10);
    plot([xalt,x],[yalt,y],'re');
    grafik.data = sensormatrix;    
    t=t+dt;
end

Code 0-1: gleiter.sce (vergl. oben).