Quote:
Originally Posted by Siri
I'd say Unicorn drive is up there. There's so many modes available: tank (uncommon if snake works), full crab (all wheels pointed same direction), snake (front & back point opposite directions), center spin, arbitrary center spin, each potentially with x and y-orientation. |
You left out the most interesting one: full 3-degree-of-freedom control, like a mecanum or omni.
Quote:
Originally Posted by rahilm
There are other types of swerves, including ones where each wheel is rotated independently (allows greater maneuverability and less skidding and much more complicated programming)
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A swerve with four-wheel independent steering and wheel speed control allows the vehicle to be programmed to behave much like a mecanum, but without the traction limitations.
The procedure for calculating the wheel speed and steering angle for each of the 4 wheels is presented
here.
For those who like to have a deeper understanding, the derivation of those equations is given
here.