/Localization

1.Pioneer Odometry An encoder attached to each wheel of the differential drive robot gives the angle range from [-π, π]. For a robot performing rolling motion, it rotates about a point that lies along their common left and right wheel axis. The point that the robot rotates is called ICC (Instantaneous Center of Curvature), Figure 1. The given parameters of the robot; Wheel radius (r) = 𝑑2 = 0.0975m and Wheel Track (T) = 0.3310m Figure 1 Differential Drive Kinematics Figure

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