Differential Drive Robot Kinematics
TL;DR Forward Velocity Kinematics $$ \begin{bmatrix} \.x \\ \.y \\ \.\theta \end{bmatrix} = \begin{bmatrix}\frac{r}{2} && \frac{r}{2} \\ 0 && 0 \\ \frac{r}{L} && -\frac{r}{L} \end{bmatrix}\begin{bmatrix} \omega_l \\ \omega_r \end{bmatrix} $$ Inverse Velocity Kinematics $$ \begin{bmatrix} \omega_l \\ \omega_r \end{bmatrix} = \begin{bmatrix}\frac{1}r && 0 && \frac{L}{2r} \\ \frac{1}r && 0 && -\frac{L}{2r}\end{bmatrix} \begin{bmatrix}\.x \\ \.y \\ \.\theta \end{bmatrix} $$ Introduction A mobile robot operating in 3D space has 6 degrees of freedom expressed in terms of it’s pose: (x, y, z, roll, pitch, yaw)....