I'm working on a vehicle that uses four independent motors to control both the steering and speed for each wheel. I'm using Ackermann steering, and I've already got the steering angles down for the wheels based on Ackermann geometry.
I've also realized though that all the wheels are traveling at different angular speeds. I'm assuming, based on the angles at which the front tires make during a turn that I have to also calculate and assign the correct rotational velocities to the motors during a turn as well. Is this true, or do the Ackermann steering angles take care of this already (I'm assuming you need the correct the combination of both angles and speed to prevent slipping)?
If so, I'm really having trouble calculating the angular speed value for each wheel.
I've been trying to do some math off this image of Ackermann steering but I can't seem to solve for the angular speed of each wheel.
Any help is greatly appreciated, thanks!