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vehicle odometry 440 omni flex chassis

Posted: Wed Aug 28, 2013 2:49 pm
by trautman
Hello:

Is there a way to extract the wheel odometry from the 440 omni flex vehicle? I.e., the x,y,rotation values at time t?

Thanks!

Re: vehicle odometry 440 omni flex chassis

Posted: Thu Aug 29, 2013 9:07 am
by phussey
We do not provide dead-reckoning information in the feedback data, due to variation in customer applications and environments.

You should be able to take the individual wheel velocities, run them through the mecanum transform, integrate the vx,vy and angle data, and determine the X,Y position and heading. The one issue is that you must do this at a fairly high update rate with a fixed frequency to get decent dead-reckoning data. Also remember that dead-reckoning without correction will accumulate error over time.