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April 9th, 2009, 01:27 PM   #1
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Need an Algorithm (might be Angular Velocity Type)

Hello,
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
Quote:
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.

Quote:
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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