Submitted version of the thesis - Airlab, the Artificial Intelligence ...

44 Chapter 4. Control
Rotation
The second case is the rotation. For that particular configuration, we
only considered the movement caused by rotation without any displacement.
In the software simulator, the frontal speed and lateral speed are set to zero,
and the angular speed is calculated from the robot’s pose α using (4.1). An
example outcome of the simulator is shown in Figure 4.3. The robot is moving
around its center with an angular speed of -0.099669 rad/s, without any
displacement in X-Y plane.
200
150
100
50
0
−50
−100
−150
−200
−250
v t2
v : 0 mm/s
F
v : 0 mm/s
L
ω : −0.099669 rad/s
R
ω
v : 24.9172 mm/s
t1 v
v : 0 mm/s t1
n1
v : 24.9172 mm/s
t2
v : 0 mm/s
n2
v : 24.9172 mm/s
t3
v : 0 mm/s
n3
ω : 1.0129 rad/s
1
ω : 1.0129 rad/s
2
ω : 1.0129 rad/s
3
v
t3
−200 −100 0 100 200 300
Figure 4.3: The angular movement calculated by simulator
All the theory for the calculation of the angular movement is same as
in the linear movement case, only values for some parameters change. The
angular velocity of the robot body ωR is calculated with α in the hybrid
approach we mentioned in the beginning of the section.