Re: Calculating the turning radius of a robot

Hi,

In theory of a continuous movement, these values should be 
velocity/turning rate in radians, your values are close, the one for 6 
is a bit off. Formula:
velocity / ((10-0.75*velocity)/(180/Math.PI))

In Reality, with discrete time steps, it is a bit more complicated (but 
not much): velocity/2/sin(turning rate/2), or
velocity/2 / Math.sin((10-0.75*velocity)/(180*Math.PI)/2)

Values are (I used your values for first column):

	measured	continuous	discrete
8	114.627	114.5915590262	114.6148333914
7	84.464	84.4358855982	84.4600705286
6	62.159	62.5044867415	62.5284914701
5	45.862	45.8366236105	45.8593571413
4	32.764	32.740445436	32.7608164788
3	22.186	22.1790114244	22.1959283285
2	13.492	13.4813598854	13.4937305748
1	6.205	6.1941383257	6.2008702328
0	0	0	0

HTH,
Johannes

On Fri, Jun 26, 2015 at 8:51 AM, Mike Oliver <[email protected]> wrote:
> Hi Everyone,
> I have been working on a new wall smoothing algorithm and I've run into a
> bit of an issue I cant seem to figure out.  I'm trying to calculate the
> turning radius of a robot given its velocity.  I can get its change in
> degrees per tick based on its velocity 10 - 0.75 * Math.abs(getVelocity()),
> but that doesn't really help me find the radius of its arc.
>
> By plotting the points of my bot along its arc I was able to estimate its
> radius.  These values are close, but not 100% accurate. Does anyone know of
> a proper formula for calculating the radius without requiring 3 sample
> points along the arc?
>
> Here are my findings: Velocity : Arc Radius
>
> 8 : 114.627
> 7 :  84.464
> 6 : 62:159
> 5: 45.862
> 4: 32.764
> 3: 22.186
> 2: 13.492
> 1: 6.205
> 0 : 0
>
> Thanks for your time!
>
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