Suppose a differential drive robot starts at coordinates [ro, Yo, fo] = [0, 0, 0] in a 2D plane. It has a wheelbase (L) of 20 centimeters and a wheel radius (R) of 10 cen- timeters. The left wheel (v₁) and the right wheel (vr) rotate at a radians per second with a time step of 0.2 seconds. The applied wheel velocities are given for each timestep in the table. a) Write the discrete time forward kinematic equations for the given robot parame- ters. b) Calculate the robot's new position and orientation at the end of each time in- terval and fill the table using a discrete time update with a time step of 0.2 second.

Suppose a differential drive robot starts at coordinates [ro, Yo, fo] = [0, 0, 0] in a 2D plane. It has a wheelbase (L) of 20 centimeters and a wheel radius (R) of 10 cen- timeters. The left wheel (v₁) and the right wheel (vr) rotate at a radians per second with a time step of 0.2 seconds. The applied wheel velocities are given for each timestep in the table. a) Write the discrete time forward kinematic equations for the given robot parame- ters. b) Calculate the robot's new position and orientation at the end of each time in- terval and fill the table using a discrete time update with a time step of 0.2 second.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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