# Calculate a two wheeled robot wheels rotation velocity for different movement [closed]

Consider the following situation. I have a two-wheeled robot like that

I have required information: size of a robot, radius of wheels and so on.

Also I have an object that the robot should pass around.

I know its absolute position and the robots position as well.

I need to calculate the wheels' velocity to follow a circle path around an object.

Velocity is an abstract value in this case - I need to find just a relation between provided properties.

For example if I set velocity of the right motor to 4 and the left motor to the -4 it will rotate around its own axis (approx.). If I set the left to 0 and the right one to 4 it will move anti-clockwise.

## closed as off-topic by Qmechanic♦Nov 13 '17 at 10:04

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• Hawe a look at this article: rossum.sourceforge.net/papers/DiffSteer. With those formulas it should be possible to figure out how to make a certain circle. – alvitawa Nov 12 '17 at 9:49
• Discussed in the hbar chat room here. – Qmechanic Nov 13 '17 at 10:04