Thread: The Hardest Drive System To Program:
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Unread 26-03-2011, 23:23
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Re: The Hardest Drive System To Program:
Ackermann steering was the hardest steering I've programmed, but also the most fun. If you're not familiar with it check it here: http://en.wikipedia.org/wiki/Ackermann_steering

The wheel steering angles aren't equal when turning because the wheel axles both have to point at the turning center point. With a hardware linkage, you're limited as to where your turning center can be located, but with a software "linkage" you can place the turning center wherever you like.

The HOT team used this in 2008 when I was a member of that team - a fitting drive and steering system for that year's theme. A separate control loop was used for each steerable wheel.