Shown below, the autonomous ground robot is geometrically symmetric about the y-axis. The two large wheels of the robot are driven by their own electric motors that cause the wheels to turn, propelling the vehicle forward. The vehicle is able to turn by commanding each of the two wheels to rotate at different speeds. If the left wheel is commanded to rotate at 4 rad/sec and the right wheel is commanded to rotate at 6 rad/sec, determine for the instant shown
Assume that each of the two wheels roll without slip.
Since the wheels are rolling without slip, we can use the rolling equations to determine the velocity of the wheel centers.