Trajectory planning.

[jakx12]

Ok so I am coding this robot simulation software that gets a robot to teach itself how to drive using genetic algorithms and artificial neural networks. However, I dont know how to realistically move the robot. For example, say the neural network outputs 0.8 for the right motor, whats the maths to plan a trajectory for this. Basically the 0.8 is the speed of the right motor so it will spin 8 times a second. Now what I cant figure out is this. The robot is circle shaped so how do I change the angle of the robot realistically if the robot moves forward 1 but goes to the left or right x amount.

So like would the maths be this. x = tan(1/(angle * degrees of the robot)) and then the angle to subtract or add would be tan(1/x)? Or not?

Please help,

thanks guys,

jakx12

[arixrobotics]

Hi jakx12,

Its 'funny' how your signature at the bottom says you can help with algorithms and maths, but your post is asking for help on that... hehe joking 

I don't quite understand esp this part:

how do I change the angle of the robot realistically if the robot moves forward 1 but goes to the left or right x amount.

By angle of the robot do you mean the robot's heading angle? What do you mean the robot goes forward 1 ('1' what?) but also goes left or right? Is it curving when its supposed to go straight? And you want some maths that will correct that?