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Originally Posted by Jared
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To further back this up. Even if you are going to do a simple turn-straight-turn, it's going to be faster to turn about one drive side rather than the center of the robot because this moves your center further along the path, and doesn't require direction reversals for either drive side.
The curvilinear path, when considering the speeds of each side, is generalizing this by allowing each side of the drive to stay at a positive speed and minimized their accelerations while still accomplishing the heading changes and displacements needed.
Given a choice between giving a man a fish and teaching him to fish, you always want to teach them to fish. But sometimes that involves showing him how to put the worm on the hook first. - dlavery [more] 
16-08-2014, 13:52
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