In the robot system, there are two sets of coordinate systems: the world coordinate system and the robot coordinate system. The world coordinate system is a right-handed coordinate system, which means it is the coordinate system of the map. The world coordinate system is used for operations related to mapping and positioning.
Note: To control the robot's movement, you must use the robot coordinate system, which is the right-hand coordinate system.
For a robot moving in differential mode, the center point of the wheelbase of the two wheels is considered as the origin of the robot coordinate system, as depicted in the following figure:
Note 1: The left side of the robot coordinate system uses the left driver and corresponding motor, while the right driver and corresponding motor are used on the right side. Note 2: When discussing robot velocity, vx generally refers to the velocity of the robot in the X-axis direction in the robot coordinate system, vy refers to the velocity of the robot in the Y-axis direction in the robot coordinate system, and w refers to the angular velocity of the robot in the robot coordinate system.
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