Region of interest with polygon function


I had a question with inpolygon function. There are tonnes of
resource but they are not clear on the subject. Two wheels inside the polygon(sandy) or either wheel causes the wheel to turn
depending which wheel is slower(affected by wheel velocities). Now, I drew the polygon using the inpolygon function and tried "hold on" for plotting the actual turn.
It did not work. Is matlab powerful enough to handle such a condition? I have attached a file of my simulation result. Thanks
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