What Is the Differential-Drive Mobile Robot Odometry Calculator?
Differential drive mobile robots steer by controlling the relative angular velocities of two independent drive wheels on a common axis.
Forward kinematics determines vehicle chassis linear velocity and yaw rate.
How Does the Differential-Drive Mobile Robot Odometry Calculator Work?
Calculates linear surface speed for each wheel: V = r · ω.
Chassis linear velocity is the arithmetic mean of wheel speeds.
Chassis yaw rate is the difference in wheel speeds divided by track width.
Differential-Drive Mobile Robot Odometry Calculator Formula & Variables
The core mathematical equation utilized by this calculator is expressed as:
Differential drive unicycle kinematic equations relating wheel rates to robot velocity and rotational curvature.
How to Use the Differential-Drive Mobile Robot Odometry Calculator
- Input wheel rolling radius in meters.
- Input track width distance between wheel contact patches.
- Enter rotational speeds from optical encoders or motor telemetry.
Step-by-Step Example Calculation
Differential Drive Motion
Input Values:
Understanding Your Result
Primary result indicates forward chassis speed.
Summary displays turning yaw rate in degrees/sec and trajectory curvature radius.
Factors That Affect the Result
- Wheel slip and loss of traction.
- Effective rolling radius variations due to tire deflection.
When Should You Use This Calculator?
- Dead-reckoning navigation and SLAM (Simultaneous Localization and Mapping).
- Mobile robot trajectory tracking and motion controllers.
Assumptions & Limitations
- Assumes pure rolling with no lateral or longitudinal wheel slip.
- Planar motion assumption across flat ground.
Frequently Asked Questions
Calculation Accuracy & Reference Note
Standard rigid unicycle kinematic model.