Quote:
Originally Posted by Jared341
The only configuration that gives you perfect (no skidding necessary) crab and turning under all possible circumstances is the 4 drive transmissions/4 steering transmissions case.
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For the mathematically inclined, the above result is equivalent to Equation 3 which is derived in
this white paper. It shows the necessary X and Y components of velocity at each wheel to achieve any desired vehicle simultaneous translational and rotational motion.
Using the results from Equation 3, the wheel angle for the n
th wheel is -ATAN2(V
yn,V
xn), and the wheel rotational speed for the n
th wheel is sqrt(V
xn^2+V
yn^2)/r.