eeddaann/Odometry.md

## Odometry.md

      
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              Odometry.md
            
          
    Odometry - estimate errors


N - Encoder resolution
r - Wheel radius
b - distance between wheels

The following equations are applied:
$$teta = 2*u/b
u = 2*pi*r/n$$
python implementation

Given distance d, distance between wheels b and initial bias u.
The distance between the actual robot position to it's target position after d distance units can be computed like this:
import math

def calc_bias(d,b,u):
  teta = 2 * u / b
  return d * math.tan(teta)