Well,
We develop one method for the robot integrate F-R and L-R in 2006.
Here on Brazil, we calls by Curva.c .
The method is basic, but you need a Gyro and Encoder to make this.
The concept is that for your bot go FWD and REV, the velocity of both sides of the robot have be the same.
FWD: +Velocity_LS = +Velocity_RS
REV: -Velocity_LS = - Velocity_RS
To integrate FWD with Left, for example, you need to make:
LEFT: +Velocity_LS <+Velocity_RS
and FWD with Right:
RIGHT: +Velocity_LS >+Velocity_RS
You need to use the follow equation:
Velocity_LS / R_LS* = Velocity_RS / R_RS*
*R_LS and R_RS is respectively Radius of the Circle that Left Side describes and Radius of the Circle that Right Side describes
You have four variables and three you know: R_LS, R_RS and Velocity_LS or Velocity_RS. You can find the last variable and control your motor.
The main problem: you need to use PID to make this, and, I don't know how to use PID with these field.
I hope that you can understood me. Is complicated explain algorithm in english
