Thread: calculating position using follower wheels
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Unread 05-10-2013, 12:06
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Re: calculating position using follower wheels
Spoiler for Justification:

For a given time interval, the robot turns from Q_i to Q_f. The average velocity over that time period is not in the direction of Q_i or Q_f, but somewhere in between; within the sample rate of the idler wheels, the most accurate angle is halfway in between. Therefore, half of dQ is added before, then the sin and cos of Q are used to calculate the new X and Y positions, and then the other half is added.


It is not the best proof, but it explains the general reasoning.
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