[AMR] Summarize W4 content

2026-04-28 16:19:23 +02:00 · 2026-03-17 16:45:49 +01:00
parent 28d0696091
commit b36cb31b75
8 changed files with 39 additions and 2 deletions
@@ -40,6 +40,7 @@
 \bi{Gen. eq. of Motion} $\dot{x}_1 = v\cos(\theta)$, $\dot{x}_2 = v\sin(\theta)$, $\dot{\theta} = \Omega$,
 with $v = 0.5\cdot(\omega_l r_l + \omega_r + r_r)$, $\Omega = \frac{\omega_r r_r - \omega_l r_l}{w}$

+% TODO: Consider adding wheel constraints (planar) here as well (from W05 slides)
 \textit{Straight}: $v = \omega_l r_l = \omega_r r_r$, $\Omega = 0$, $D = v\Delta t$.\\
 $\vec{b}_s = \begin{bmatrix}
        D \cos(\theta) \\