calculate_radius.m

该程序用PID系统实现差动转向车辆控制

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function radius=calculate_radius(b,vr,vl)
%% This function calculate the turn radius of the robot
%% vr=right wheel velocity
%% vl=left wheel velocity

radius=b*(vr+vl)/(2*(vr-vl));


end