Re: Calculating the turning radius of a robot

Ah!  Thats exactly what I was looking for, I figured there was an easier 
solution to my approach.  Thanks Johannes!

On Friday, 26 June 2015 02:37:59 UTC-7, Johannes Slotta wrote:
>
> 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] 
> <javascript:>> 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] 
> <javascript:>> 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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