What Is the Differential Drive Mobile Robot Odometry Calculator?
Differential drive kinematics describes the movement of a ground vehicle steered solely by the speed differential of two coaxial wheels.
How Does the Differential Drive Mobile Robot Odometry Calculator Work?
Converts motor RPM into linear wheel velocities and calculates unicycle motion model state derivatives.
Differential Drive Mobile Robot Odometry Calculator Formula & Variables
The core mathematical equation utilized by this calculator is expressed as:
v = rac{v_R + v_L}{2}, quad omega = rac{v_R - v_L}{b}, quad R = rac{v}{omega}
Chassis linear speed, rotational yaw rate, and instantaneous radius of curvature.
How to Use the Differential Drive Mobile Robot Odometry Calculator
- Input wheel radius, track width separation, and individual RPM values for the left and right wheels.
Step-by-Step Example Calculation
Warehouse AMR Curve Maneuver
Input Values:
wheelRadiusM:0.075
trackGaugeM:0.45
leftRpm:120
rightRpm:140
Worked Steps: Produces forward speed 1.021 m/s, yaw rate 19.98 °/s, and turn radius 2.93 m.
Understanding Your Result
Outputs linear forward velocity (m/s), rotational heading speed (°/s), and turn radius (m).
Factors That Affect the Result
- Wheel slippage, floor roughness, and tire deformation alter actual ground odometry.
When Should You Use This Calculator?
- Dead-reckoning odometry integration, ROS navigation stack motor control, and mobile robot simulation.
Assumptions & Limitations
- Assumes zero wheel longitudinal slip and zero lateral skid (pure rolling contact).
Frequently Asked Questions
Calculation Accuracy & Reference Note
Standard unicycle kinematic vehicle model.