Chapter 12. Navigation
Introduction
One of the problems with mobile robots is knowing where they are. This chapter explains some of the problems and offers some solutions.
Distance Traveled
The calculations in this section apply to mobile robots with two independently powered motors, such as the Quickstart robot and the Tribot. If the wheels and tires that came with your LEGO Mindstorms kit are the same size as those supplied with our kit, the outer diameter of the tire is 55 millimeters. This is the basic dimension for the calculations. If the wheels on your robot are larger or smaller than this, adjust the calculations to keep things in proportion.
Figure 12.1 shows a wheel running on a flat surface. The mark on the wheel is in contact ...
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