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Compute velocities from wheel-encoders for odometry model

asked 2013-07-11 08:02:14 -0600

salime gravatar image

updated 2013-07-11 10:01:26 -0600

I am working with the navigation of a two wheeled robot, I am looking at the odometry tutorial, in this part:

//compute odometry in a typical way given the velocities of the robot
double dt = (current_time - last_time).toSec();
double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
double delta_th = vth * dt;

x += delta_x;
y += delta_y;

it says "A real odometry system would, of course, integrate computed velocities instead"

so, if I have the velocity readings from the wheel encoders, how can I compute this velocities for the odometry model?

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Can you clearly state the meaning of 'velocity readings from the wheel encoders'? Does it refer to the rpm of each motor or the distance traversed by each wheel per unit time?

Hemu gravatar image Hemu  ( 2013-07-11 11:28:57 -0600 )edit

I have the encoder count per second in each wheel, the wheel radius and the distance between these two wheels. I am wondering how can I get the velocity in meters per second with this information.

salime gravatar image salime  ( 2013-07-12 07:21:49 -0600 )edit

Hello usually computing an odemetry is dependent on the type steering on the robot there are different type of methods for computing velocities from encoder counts first thing I would advice you to do is to read this article and you will then have better starting point. I hope it was helpful. thanks

hamidoudi gravatar image hamidoudi  ( 2014-01-12 14:08:48 -0600 )edit

2 Answers

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answered 2018-06-28 11:16:55 -0600

Mark Rose gravatar image

In some robots you can't measure velocity directly. Instead, you measure movement (of the motors, for example) and calculate both the new position and velocity from that movement. As an example, the ros_arduino_bridge package does exactly that from the encoder measurements of a differential-drive system.

You can see an example of writing an Odometry message with updated position and velocity based on encoder deltas and publishing the updated transform in lines 146–185 of the file in ros_arduino_bridge :

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answered 2017-11-21 09:23:17 -0600

gzah gravatar image

As you stated you have a two-wheeled robot your kinematics looks something like this:

vth = (v1 - v2)/l;
vx = (v1 + v2)/2;
vy = 0;

With v1 and v2 being the respective wheel speeds and the x direction being defined as "forward" and l the distance between the wheels.

To get from the counts/s of the encoder to actual speed in m/s simply multiply it by the circumference of the wheel and divide by the counts of the encoder per wheel-revolution.

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Asked: 2013-07-11 08:02:14 -0600

Seen: 3,025 times

Last updated: Jun 28 '18