Differential Drive Odometry in LabVIEW

[Wamp]

Thank you all for the info.

Yesterday I found 2 interesting links:

http://rossum.sourceforge.net/papers/DiffSteer/#d6

(Same aproximation as brian used)

http://www-personal.umich.edu/~johannb/position.htm

(There is a PDF, page 20, same aproximation but more "in depth")

With everything I got and your replies, I think I understand the whole process, except the very beginning... brian calculated:

Left Wheel = Speed + Turn Rate
Right Wheel = Speed – Turn Rate

What exactly is "Turn Rate"? Obviously thats not an angle, I think it´s a transformation of some data input from the wheel encoders, but Im not sure where it comes from. I didn´t found anything about that...

(Well, I know it´s only a "simulation" and you actually set it manually from the instrument panel, Im talking about how it applies in a real situation).

Sorry if I ask something stupid, I´m a noob in robotics, this is my third month studying this field Which I have to say, I found it pretty hard, time-consuming, but also fascinanting!

BTW, I have to check better and compare the last VIs brian posted.

Oh, and maybe you can find this interesting, is a simulation comparing real trace VS Dead Reckoning aproximation: http://rossum.sourceforge.net/tools/...ionApplet.html