Encoder To X and Y

Other Hardware Robotics
1

Hello,

I have a 4wheel mobile vehicle and each wheel have an encoder attach to it.

The mobile vehicle have no steering mechanism but if the speed of the left and speed of the right wheel differ the mobile vehicle turn.

I am trying to convert encoder reading into X & Y.

I read tutorial and websites online but When my robot turn 90 degree the estimate in X & Y are way off.

I tried Having the robot do a square path and come back to the orgin spot but the x and y estimate are way off.

I am using these equation in page 20.

http://www.diva-portal.org/smash/get/diva2:319617/FULLTEXT01.pdf
2

I am trying to convert encoder reading into X & Y.

How? Why? The encoder is telling you how many times the motor has turned. That tells you nothing about how much the wheel has slipped on whatever surface you are running on.

3

Hi, the article you have cited uses a two wheel differential drive and a front jockey wheel.
Your four wheel unit, because it has no steering wheels, relies on slip to turn.

The two systems are totally different when it comes to what you want to accomplish.

I suggest you make it a similar device to the cited article, as it will be a smoother and more maneuverable robot.

Tom....... :slight_smile: