What if the robot can't make a "zero-point" turn?

[korit...@nicoletfear.com]

The tank drive robot cannot make a zero-point turn due to drive alignment.  Is there a way to compensate for this using closed-loop?  We had been trying to turn from a stationary position.

[admin]

What kind of motion are you wanting the robot to make?

I'd expect you will need to first move to a position where rotation can occur, then make the rotation.

More complex moves are possible, but definitely more complicated, via spline-based motion planning (you'll see discussion on this technique on ChiefDelphi).

But as noted on chief delphi, this is non-trivial - and it's typically better to start with multiple discrete motions first before advancing onto this technique, which would likely use closed-loop operation both on rotation, as well as from the wheel encoders, to drive in an arc or other non-linear pattern.