将位置转换为差动驱动机器人的编码器刻度
我正在尝试计算实现给定位置所需的编码器刻度。我知道如果你有编码器刻度，有一些方程，你可以计算结果位置。我正在尝试做相反的事情。我看过http://en.wikipedia.org/wiki/Dead_reckoning#Differential_steer_drive_dead_reckoning但我无法在不丢失这些变量的情况下求解 T1 和 T2。有什么想法吗？
I am trying to calculate the required encoder ticks to achieve a given position. I know that there are equations for if you have the encoder ticks, you can calculate the resulting position. I am trying to do the opposite. I have looked at http://en.wikipedia.org/wiki/Dead_reckoning#Differential_steer_drive_dead_reckoning but I haven't been able to solve for T1 and T2 without those variables dropping out. Any ideas?
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您可以轻松求解 T1 和 T2。
使用
\delta x= ... 求解 T1+ T2，使用 \delta \theta = ... 求解 T1 - T2。然后通过将两个方程相加来求解 T1（您得到 ... = 2 * T1），最后通过将 T1 代入之前的方程之一来求解 T2。
T1 和 T2 的结果实际上是相同的，除了一项中的符号不同之外，正如人们所希望的那样。
You can easily solve for T1 and T2.
Use
\delta x= ... to solve for T1+ T2 and use \delta \theta = ... to solve for T1 - T2.Then solve for T1 by adding the two equations (you get ... = 2 * T1) and finally solve for T2 by substituting T1 into one of your earlier equations.
The result is virtually the same for T1 and T2 except for a different sign in one term, as one would except.