path planning of mobile robot

I want to design a mobile robot to navigate in unknown environment by using one of path planning algorithm (Artificial potential field) and as known that the algorithm outputs the desired path as a set of points (i.e x,y)and the model that i will used is kinematic model of differential mobile robot and the inputs of that model are angular velocity of right wheel and angular velocity of left wheel (i.e Wr,Wl) so the question is how can i translate the desired path as x,y of algorithm to Wr,Wl to connect with the kinematic model ?

[Maria]

there is anyone can help ? Plz

[jayasree k r]

I too have the same doubt..Pls help us

Answer 1

[Thiyagarajan S]

consider four inputs(wr,wl,b,c)for robot model b-length of back shaft (length between two wheels) c- wheel radius wl- angular velocity of left wheel wr- angular velocity of right wheel we can able to calculate the desired path as a set of points (i.e x,y)

Answer 2

[Welid Benchouche]

why don't you use vl and vr instead of wl and wr in your kinematic model, do you have to use the latters ? and by the way, your kinematic output is x,y, theta right ?

Answer 3

[Welid Benchouche]

if your output is x,y,theta, and your desired output is x,y, use atan(y/x) to get theta desired and there you have it , hope this help u