Differential Drive Odometry in LabVIEW

[Ether]

Originally Posted by Wamp

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"?

If "speed" is the vehicle forward speed command in feet/sec, then the "turn rate" is equal to (L/2)*omega, where omega is the vehicle rotation rate command in radians per second and L is the vehicle trackwidth measured in feet. The above formulas will then give the required tangential velocity (in feet per second) for the left and right wheels (which can be converted to wheel rpm by multiplying by 360/pi and dividing by the wheel radius in inches).

[Wamp]

Thank you very much, Ether Finally I understand the whole process.