- One of the most important steps in designing any space mission is precisely determining the trajectory that the spacecraft will follow en route to its final destination.
It is obvious to say that the success and even the feasibility of any mission depends primarily on a good design of its trajectory.
- Instead, they present a way of computing the trajectory (path) for a robot based on certain simplified assumptions.
If the wheels are allowed to accelerate, the curve which describes the robot's trajectory can become much more complicated.
Now we will consider the opposite problem: how do we find the trajectory of the robot if we are told what speeds the wheels will be turning?
Let's derive functions for the robot's trajectory.
If both wheels are moving at the same velocity, the robot travels in a straight line and the equation for its trajectory is trivial.
The term (b/2)(VR+VL)/(VR-VL) is actually the turn radius for circular trajectory of the robot’s center.