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****Calculating the Turning**__ __radius of a car-like robot

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Figure 11 Turning radius
The turning radius of a robot that utilizes car-like steering (parallel or
Ackermann geometries) will depend on the wheelbase of that robot and its maximum
steering angle. A longer robot will require more space to turn around
than would a shorter robot possessing the same steering angle.
The following formula is crude but works well enough when used to calculate
the “turning radius of car-like robot. Be sure to use consistent units when
entering everything.
Turning radius=track/2+wheelbase/sin (steering angle in degrees)
Where:
· track = the distance (center to
center) between the left and right wheels
· Wheelbase = the distance (center to
center) between the front and rear wheels
· Steering
angle = the maximum angle that the
steer able wheels may be turned
Note with Ackerman steering the actual steering
angle is an average of the angles of
both the left and right wheels)
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