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odometry calculation for car like robot using ackerman steering

asked 2020-01-09 04:03:10 -0500

Kavya K S gravatar image

Hi, i am new in ROS. i am trying to do a simple ackerman steering model robot. so for calculating the odometry for the robot a bit confusing. i can take left and right encoder counts to calculate my linear velocity. in case of orientation angle change how can we calculate. if i am using the encoder values from steering wheels can i calculate odometry? can anybody advice? thanksc

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answered 2020-01-09 16:57:07 -0500

A lot of work has already been done for you. Check out the ackerman steering controller here. This will do a lot of this work for you.

Theoretically if you have rear right and rear left encoder ticks then odometry can be calculated exactly the same as a turtle bot. However if you know the angle of the front steering wheels then you can make your odometry estimation much more accurate.

All this will be done for you if you use the package I linked to above.

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Asked: 2020-01-09 04:03:10 -0500

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Last updated: Jan 09 '20