Best way to control steering on a 4-wheels steering robot
Hi to all,
I have a robot with a four wheels steering system: I mounted an absolute encoder on each wheel and then I mapped the range values for each wheel.
I'm considering 0° when the wheel is steered on the left, 90° when the wheel faces forward and 180° when it is rotated to the right. I mapped the encoders values for each of these three positions so I can move correctly all the wheels around these positions.
Now, the problem is that I would like to be able to synchronize the movements of each pair of wheels (front and rear) and to cover also the intermediary positions. I would also like to improve the positioning since the encoders usually provides different readings for the same position (i.e. 230, 232, 292, 230) so the wheel oscillates around the chosen position.
What is a good solution to achieve this? What is the most popular method used for this?
At the moment, I'm just running a while loop moving the motor until the encoder readings match the desired position. Can I use a kalman filter to improve the positioning?
