A differential drive mobile robot is illustrated in Fig. 1. The position of the robot is...

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A differential drive mobile robot is illustrated in Fig. 1. The position of the robot is (x, y), and the orientation of the robot is. The distance between the two wheels is L=0.4 meter. The radius of both wheels is r=0.1 meter. Y₁ MACED H L y VL X VR X₁ Fig. 1 a) If the right wheel and left wheel are moving at 2 turns per second and 1.9 turns per second respectively, what are the linear velocities of the left wheel (V₁), and right wheel (VR)? What are the linear velocity (V) and angular velocity (@) of the robot? b) With the given the initial pose of the robot and its motion given in a), what is the robot pose after 10 seconds of motion? c) What happens to the V and @ if both wheels are moving at 2 turns per second? With the same initial robot pose, what is the new robot pose after 1.5 minutes of such motion? A differential drive mobile robot is illustrated in Fig. 1. The position of the robot is (x, y), and the orientation of the robot is. The distance between the two wheels is L=0.4 meter. The radius of both wheels is r=0.1 meter. Y₁ MACED H L y VL X VR X₁ Fig. 1 a) If the right wheel and left wheel are moving at 2 turns per second and 1.9 turns per second respectively, what are the linear velocities of the left wheel (V₁), and right wheel (VR)? What are the linear velocity (V) and angular velocity (@) of the robot? b) With the given the initial pose of the robot and its motion given in a), what is the robot pose after 10 seconds of motion? c) What happens to the V and @ if both wheels are moving at 2 turns per second? With the same initial robot pose, what is the new robot pose after 1.5 minutes of such motion?

Answer rating: 100% (QA)

a The linear velocity of the left wheel V can be calculated using the formula V r omega where r is t... View the full answer