burakdmb / differentialdrivepathtracking Goto Github PK

Could you please illustrate the R in Controller class's __init__ in main.py?
Could you please share your reference materials for code? like blog/tutorials/papers about two wheeled differential drive mobile robot ? like kinematics, path tracking algorithm theory?
Thank you

Hi, I'm trying to implement a 2 wheel robot simulator but I'm stuck on the math part.

I read some of the theory, but as it's been a while since I left college, I'm not acknowledging the terms.

Basically I have 2 speed controls for the robot wheels. If I move L_VEL to max. and leave the R_VEL at 0. I believe the rotation he is doing is not correct...

The Code can be edited online:
https://playground.babylonjs.com/#5LD51R#33

What do L and R mean？
The original

    vR = (2*v + w*self.L)/(2*self.R)
    vL = (2*v - w*self.L)/(2*self.R)

Maybe should be

    vR = v + w*“Track width”/2
    vL = v - w*“Track width”/2