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. 2017 Oct 23;17(10):2426. doi: 10.3390/s17102426

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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The illustration of the robot motion parameters. In the figure, R represents the radius of the robot when turning, $Δ θ_{f}$ represents the deflection angle relative to the current traveling direction, $v_{1}$ and $v_{2}$ represent the speed of the left and right traveling subassemblies, $v_{f}$ represents the speed of the robot and b represents the distance between the left and right subassemblies.