Re: Calculating the turning radius of a robot

Should be 180/Math.PI instead of 180*Math.PI of course ;-)

On Fri, Jun 26, 2015 at 11:34 AM, Johannes Slotta <[email protected]> wrote:
> 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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