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April 9th, 2009, 01:27 PM   #1
Joined: Apr 2009

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Need an Algorithm (might be Angular Velocity Type)

I am trying to find the algorithm for finding either time, or velocity (2 velocities) for a robot with differential drive. Meaning it has 2 motors that create a force to drive and turn the robot.
I have the radius of the wheels and the length between them but I am unsure of an algorithm for finding time.
I have found
ICC -> Instantaneous Center of Curvature - the point the

robot rotates about.
R -> signed distance from the ICC to the midpoint between

the two wheels
w -> rate of rotation

Velocity of wheel R = Vr
Velocity of wheel L = Vl

Vl and Vr we will have, Speed/360 -> RPS
we have W and R then, but not l.

w(R + l/2) = Vr
w(R - l/2) = Vl

R= (1/2) ((Vl + Vr) / (Vr - Vl))
w= (Vr - Vl) / l
But that doesn't take into account for how much time it takes to get to that angle based on the 2 velocities. Here is a run down of what I was going to do to find the algorithm but if anyone can actually give me it that would be great.

Have standard 360 speed.
Reset Time Watch.
Set real values for the two wheels.
Start with 180 & 360: Turn Angle 10, 20, 30, 40, 50, 60, 70, 80 and 90.
Stop time watch.

See if there is some algorithm. Need 2 speeds that are
created for some angle with a define time.
So if we see that we are to go 60 degrees, we can then
choose a time for it to do the turn and there are 2 angles
that we can get from it. Might need a table but an algorithm
is really the only way I should do it.

For example: Do 60 degrees only, give standard speeds (10)
of them at least. Have them very close to each other and
find the algorithm.
This is not a homework assignment.
Thank you
lothia is offline  

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algorithm, angular, type, velocity

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