Quote:
Originally Posted by Ether
How do you propose to do this computation?
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If the wheel speeds and steering angles are not too far from an inverse kinematic solution, the following computation may be adequate to estimate vehicle behavior:
Code:
FWD = (sFR*cos(aFR)+sFL*cos(aFL)+sRL*cos(aRL)+sRR*cos(aRR))/4;
STR = (sFR*sin(aFR)+sFL*sin(aFL)+sRL*sin(aRL)+sRR*sin(aRR))/4;
omega = ((sFR*cos(atan2(W,L)+pi/2-aFR)+sFL*cos(atan2(-W,L)+pi/2-aFL)
+sRL*cos(atan2(-W,-L)+pi/2-aRL)+sRR*cos(atan2(W,-L)+pi/2-aRR))/4)/
(sqrt(L^2+W^2)/2);
... where:
L and W are wheelbase and trackwidth in inches
sFR, sFL, sRL, and sRR are wheel tangential speeds in feet/second
aFR, aFL, aRL, and aRR are wheel angles in radians clockwise from straight ahead
FWD and STR are vehicle velocity in feet/sec in the forward and strafe_right directions
and omega is the vehicle clockwise rotational velocity in radians/sec