Robotics & Control

Intermediate

Wheel Odometry Distance

Distance a wheeled robot travels from encoder counts.

Formula

d = 2\pi r \frac{C}{N}

Variables

dDistance (m)

rWheel radius (m)

CCounts moved

NCounts per revolution

Example

r=0.05, C=500, N=1000: d ≈ 0.157 m

Did You Know?

Odometry drifts over time as small wheel-slip errors accumulate — hence robots fuse it with other sensors.

robotics odometry navigation

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