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Re: paper: 4 wheel independent drive & independent steering ("swerve")
Quote:
Originally Posted by Ether
The simplest approach is to control each wheel's speed and angle separately: make each wheel angle go to that wheel's angle setpoint, and each wheel's speed go to that wheel's speed setpoint. For the drivetrain stipulated in the paper in Figure 1 (unlimited steering and continuous wheel angle sensor with no gaps) this may well be perfectly adequate - if the steering motors are powerful enough to provide satisfactory response against the given floor material and wheel tread material.
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Just uploaded a description of how to calculate shortest-path angle error and how to use it with LabVIEW PID.
http://www.chiefdelphi.com/media/papers/download/2858
Last edited by Ether : 06-01-2011 at 11:23.
Reason: fixed broken link
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As they say... I'd rather be lucky than good any day (especially Saturdays). :) - JVN [more] 
05-01-2011, 23:30
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