A two-wheel robot with track (i.e., distance between wheels) of d = 0.3 m travels along a circle of radius of 4m, as in

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A Two Wheel Robot With Track I E Distance Between Wheels Of D 0 3 M Travels Along A Circle Of Radius Of 4m As In 1 (50.09 KiB) Viewed 43 times

A two-wheel robot with track (i.e., distance between wheels) of d = 0.3 m travels along a circle of radius of 4m, as in Figure Q1-1, with the constant longitudinal speed of 2.0 m/s. ICC is the instantaneous centre of curvature. X and Y are ground-fixed axis. Y(m) ICC Therm 2. = 2.0 m/s V X (m) Figure Q1-1 A two-wheel robot travels along a circle a) Calculate the following variables: • Longitudinal speeds of the left and right wheels (i.e., V and vr); • Yaw rate : Lateral acceleration of each wheel if the distance between the wheels is 20 cm. [8 marks] 0,3)=| b) If the initial position and heading angle of the robot is y(t = 0s) = 1 calculate the position of the robot after three seconds of travelling. [8 marks] c) Having autonomous cars on the roads presents benefits and challenges. Name and explain two of the main benefits and three of the main challenges. [4 marks]