This page (revision-5) was last changed on 2024-05-31 00:03 by Murray Altheim

This page was created on 2024-05-30 22:45 by Murray Altheim

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Steering
Steering

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At line 3 added 16 lines
There's also a [Steering Calculation] page describing some Python code for calculating the wheel angle for inner and outer wheels when turning using independent four or six wheel steering.
! Goals
The goals of most robot steering include:
* skid-free (apart from skid/tank style steering where this is the norm)
* simultaneous driving and steering
* bounded acceleration
* bounded velocity
* bounded steering angles
* and maybe something like no tipping over, or a minimum margin of stability or footprint
(thanks to Calle on [Personal Robotics] for this list)
At line 30 added one line
* __Independent Steering__: this is where every wheel assembly has its own independent steering mechanism. Clearly, the angles need to be carefully coordinated, as there are only certain angles where skidding is minimised or eliminated, and some angles where the robot could not move at all. See the [Steering Calculation] page for details.
At line 40 changed one line
When programming movement of a robot it's possible to set each motor's velocity to Skid-steer the robot. When you add the availability of steering servos, things get more complicated. And this points out a better way of approaching the design of a robot's navigation, using two variables: ''velocity'' and ''theta'' (turning angle).
When programming movement of a robot it's possible to set each motor's velocity to Skid-steer the robot. So you might set the port (left) side velocity at 80% and the starboard (right) side velocity at 20%, causing the robot to turn to starboard.
At line 59 added 2 lines
When you add the availability of steering servos, things get more complicated. And this points out a better way of approaching the design of a robot's navigation, using two variables: ''velocity'' and ''theta'' (turning angle).
At line 62 added 2 lines
(BTW, the easy way to remember port and starboard is that "port" and "left" both have four letters.)
This page (revision-5) was last changed on 2024-05-31 00:03 by Murray AltheimTop