rightwheelloc.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 rightpos=RightWheelLoc(position,bw)
%% This function calculate the right wheel position of the robot
theta=position(3);
rx=position(1)+bw/2*cos(theta-pi/2);
ry=position(2)+bw/2*sin(theta-pi/2);
rightpos=[rx,ry];
end