Day 013_Part_1

Day 013_Part_1 - centered on the ICC thus for a small...

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Mobile Robot Forward Kinematics 2/3/2012 1
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what is the position of the ICC in {W}? Forward Kinematics : Differential Drive 2/3/2012 2 V θ {W} y x R ICC
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Forward Kinematics : Differential Drive 2/3/2012 3 V θ {W} y x R + = θ cos sin R y R x ICC
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Forward Kinematics : Differential Drive 2/3/2012 4 assuming smooth rolling motion at each point in time the differential drive is moving in a circular path
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Unformatted text preview: centered on the ICC thus, for a small interval of time δ t the change in pose can be computed as a rotation about the ICC ICC R P(t) P(t+ δ t) Forward Kinematics : Differential Drive 2/3/2012 5 computing the rotation about the ICC 1. translate so that the ICC moves to the origin of {W} 2. rotate about the origin of {W} 3. translate back to the original ICC ICC R P(t) P(t+ δ t)...
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Day 013_Part_1 - centered on the ICC thus for a small...

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