differential_drive_robots_and_wheel_odometry.md

Kinematics of Differential Drive Robots and Wheel odometry

1. Velocity-based (dead reckoning)

Linear Velocity:

so for the right wheel:

and for the left wheel:

if we add and subtract the above equation:

1.1 Forward Kinematics for Differential Drive Robots

so we express the pose of the robot in frame, we rotate it around that degree and finally express it our world coordinate frame:

If we add orientation and write all positions in our world coordinate:

since we had :

1.2. Inverse Kinematics of Differential Drive Robots

Refs: 1

2. Odometry-based

Not sure about the followings:

The pose of the landmark

the pose of the robot at time t:

observed range and bearing of the landmark:

DiffBot Differential Drive Mobile Robot

ros-mobile-robots