Editing Differential wheeled robot (section)

=== Differential Drive Controller ===
One might face a situation where the velocity <math display="inline">V</math> and the angular velocity <math display="inline">\omega</math> are given as inputs, and the angular velocities of the left <math display="inline">\omega_{L}</math>and right wheels <math display="inline">\omega_{R}</math> are sought as control variables (see figure above). In this case, the already mentioned equation can be easily reformulated. Using the relations <math display="inline">R = V/\omega</math> and <math display="inline">\omega_{R} = v_{R}/r</math> in

<math display="block">\omega \cdot (R+b/2) = v_{R}</math> one obtains the equation for the angular velocity of the right wheel <math display="inline">\omega_{R}</math>

<math display="block">\omega_{R} =   \frac{V+\omega \cdot b/2}{r}</math>

The same procedure can be applied to the calculation of the angular velocity of the left wheel <math display="inline">\omega_{L}</math>

<math display="block">\omega_{L} = \frac{V-\omega \cdot b/2}{r}</math>