Thank you all for the info.
Yesterday I found 2 interesting links:
http://rossum.sourceforge.net/papers/DiffSteer/#d6
(Same aproximation as brian used)
http://www-personal.umich.edu/~johannb/position.htm
(There is a PDF, page 20, same aproximation but more "in depth")
With everything I got and your replies, I think I understand the whole process, except the very beginning... brian calculated:
Left Wheel = Speed + Turn Rate
Right Wheel = Speed Turn Rate
What exactly is "Turn Rate"? Obviously thats not an angle, I think itīs a transformation of some data input from the wheel encoders, but Im not sure where it comes from. I didnīt found anything about that...
(Well, I know itīs only a "simulation" and you actually set it manually from the instrument panel, Im talking about how it applies in a real situation).
Sorry if I ask something stupid, Iīm a noob in robotics, this is my third month studying this field
Which I have to say, I found it pretty hard, time-consuming, but also fascinanting!
BTW, I have to check better and compare the last VIs brian posted.
Oh, and maybe you can find this interesting, is a simulation comparing real trace VS Dead Reckoning aproximation:
http://rossum.sourceforge.net/tools/...ionApplet.html