1. Steering in a differential drive robot is accomplished by left and right wheels spinning at different speeds. The robot turns left if the right wheel spins faster, and vice versa. Consider a robot with wheel encoders that supply the angular speeds and a in rad/s for the left and right wheels, respectively. The turn radius r of robot motion is determined by L(o+a) 2(a-) where L is the axle track. If wheel speeds are constant over a time period , the angle swept over that time is Doxt 2r where D is the wheel diameter and the average wheel speed. The robot pose is defined by the (y) position combined with the heading it is pointing If the robot is currently at pose (ny) and , then the robot will be at pose x,,-x, + d, cos(A + ) y,.,-y, +d, sin(4 ++49) after Ar where is found using the law of cosines. ri di xiv) 1. Steering in a differential drive robot is accomplished by left and right wheels spinning at different speeds. The robot turns left if the right wheel spins faster, and vice versa. Consider a robot with wheel encoders that supply the angular speeds and a in rad/s for the left and right wheels, respectively. The turn radius r of robot motion is determined by L(o+a) 2(a-) where L is the axle track. If wheel speeds are constant over a time period , the angle swept over that time is Doxt 2r where D is the wheel diameter and the average wheel speed. The robot pose is defined by the (y) position combined with the heading it is pointing If the robot is currently at pose (ny) and , then the robot will be at pose x,,-x, + d, cos(A + ) y,.,-y, +d, sin(4 ++49) after Ar where is found using the law of cosines. ri di xiv)