Quote:
Originally Posted by Jared Russell
drive_wheel_linear_velocity = wheelbase_width_meters * desired_turning_rate_rads_per_second / 2
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For a robot with center of mass located at center of rectangle formed by the 4 wheels, I think that should be:
S = (1+
f2)(
W/2)
ω
S is drive wheel linear speed
W is trackwidth
ω is desired turning rate in radians per second
f the the ratio L/W, where L is wheelbase