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    Odometry

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    api-495347003
    The document describes an odometry algorithm for a robot with Mecanum wheels. It breaks down robot movement into forwards/backwards arcs, strafing arcs, and diagonal lines. It derives equations to calculate the change in x and y position based on encoder readings and motor powers. For arcs, it calculates the turning radius and change in heading to determine position change. For lines, it directly uses the encoder differences to calculate position change. The final equations allow calculating robot position based on encoder values and motor powers.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Odometry

    Uploaded by

    api-495347003
    3K views4 pages
    The document describes an odometry algorithm for a robot with Mecanum wheels. It breaks down robot movement into forwards/backwards arcs, strafing arcs, and diagonal lines. It derives equations to calculate the change in x and y position based on encoder readings and motor powers. For arcs, it calculates the turning radius and change in heading to determine position change. For lines, it directly uses the encoder differences to calculate position change. The final equations allow calculating robot position based on encoder values and motor powers.

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    odometry

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    The document describes an odometry algorithm for a robot with Mecanum wheels. It breaks down robot movement into forwards/backwards arcs, strafing arcs, and diagonal lines. It derives equations to calculate the change in x and y position based on encoder readings and motor powers. For arcs, it calculates the turning radius and change in heading to determine position change. For lines, it directly uses the encoder differences to calculate position change. The final equations allow calculating robot position based on encoder values and motor powers.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    3K views4 pages

    Odometry

    Uploaded by

    api-495347003
    The document describes an odometry algorithm for a robot with Mecanum wheels. It breaks down robot movement into forwards/backwards arcs, strafing arcs, and diagonal lines. It derives equations to calculate the change in x and y position based on encoder readings and motor powers. For arcs, it calculates the turning radius and change in heading to determine position change. For lines, it directly uses the encoder differences to calculate position change. The final equations allow calculating robot position based on encoder values and motor powers.

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    Mecanum Wheel Odometry

    FTC 9866 Virus


    July 19, 2020

    Introduction
    Odometry requires three non-powered omni wheels connected to encoders: two forward facing wheels
    and one lateral wheel located at the back of the robot.

    To simplify this task, we can make a few assumptions, the first of which is making motor pow-
    ers constant. Since we update odometry once a loop, the same frequency at which we update motor
    powers, the motor powers won’t change between two consecutive odometry calls. As a result, we
    have only the 5 different movements that are possible with constant motor powers to account for in
    the algorithm. These are:
    • Forwards/backwards line
    • Strafing line

    • Diagonal line
    • Forwards/backwards arc
    • Strafing arc
    We can also treat lines as if they are arcs with infinite radius. As a result, we can combine the
    forwards/backwards line and left/right line into their respective arcs. This drops the number of
    cases to three:
    • Diagonal line
    • Forwards/backwards arc

    • Strafing arc
    One thing to notice is that with the forwards/backwards arc, the robot’s front is always facing
    the direction of movement, while with the strafing arc, it’s instead the robot’s side that’s facing
    the direction of movement. What this means is that the forwards/backwards arc only has a for-
    wards/backwards component to it, while the strafing arc only has a strafing component to it. The
    diagonal line can be split into both forwards/backwards and strafing components, similar to how vec-
    tors can be split into x and y components. Because of this, we can solve for the forwards/backwards
    and strafing components separately, and then add them together at the end.

    1
    Forwards/Backwards Movement

    The first task is to find the change in heading over the course of the loop iteration. This can be
    found by treating the movement as an arc and solving for the angle.

    ∆L = (rt − r)∆θ

    ∆R = (rt + r)∆θ
    Subtracting the first equation from the second yields

    ∆R − ∆L = 2r∆θ
    ∆R − ∆L
    ∆θ =
    2r
    Now we must solve for the turning radius, using the original arc equations.
    ∆L
    ∆θ =
    rt − r
    ∆R
    ∆θ =
    rt + r
    ∆L ∆R
    =
    rt − r rt + r
    ∆Lrt + ∆Lr = ∆Rrt − ∆Rr
    ∆Lrt − ∆Rrt = −∆Lr − ∆Rr
    rt (∆L − ∆R) = −r(∆L + ∆R)
    r(∆L + ∆R)
    rt =
    ∆R − ∆L
    Using trigonometry, we can find the movement in each direction.

    ∆x = rt (cos ∆θ − 1)

    ∆y = rt sin ∆θ

    2
    Strafing

    The angle equation that we found for forwards/backwards movements works for strafing as well, so
    there is no need to create a new one. But we can solve for the strafing radius using the arc length
    formula.
    ∆B = (rs + rb )∆θ
    ∆B = rs ∆θ + rb ∆θ
    rs ∆θ = ∆B − rb ∆θ
    ∆B
    rs = − rb
    ∆θ
    Using trigonometry, we can find the movement in each direction. It is important to note the rotated
    axes relative to the robot, as it’s strafing.

    ∆x = rs sin ∆θ

    ∆y = rs (1 − cos ∆θ)

    Final Equations
    After deriving the equations for forwards/backwards as well as strafing movement, we must add the
    two components together to get the final equations.

    ∆x = rt (cos ∆θ − 1) + rs sin ∆θ

    ∆y = rt sin ∆θ + rs (1 − cos ∆θ)


    As previously mentioned, because we treat all paths as arcs, straight lines must be interpreted as
    arcs with infinite radius. Although this can be made to work with our equations by using limits and
    L’Hôpital’s Rule, we need to create separate line equations to implement in the code.

    As these are lines, ∆θ = 0, which makes everything a lot easier. The change in x is the change
    in the back encoder, while the change in y is the average of the changes in the two forward encoders.

    So then the final equations are:

    3
    ∆R − ∆L
    ∆θ =
    2r
    If ∆θ = 0:
    ∆x = ∆B
    ∆L + ∆R
    ∆y =
    2
    And if ∆θ 6= 0:
    r(∆L + ∆R)
    rt =
    ∆R − ∆L
    ∆B
    rs = − rb
    ∆θ
    ∆x = rt (cos ∆θ − 1) + rs sin ∆θ
    ∆y = rt sin ∆θ + rs (1 − cos ∆θ)

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