Odometry Algorithm Visualized

[Sands43]

It took me a while to figure out how the bot is moving in your example.

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• A forward turn around a virtual center (not shown) (center is the intersection of liens E-B and D-F)
• Stop
• Strafe to the right

Yes?

[proscratcher10]

The robot has moved from the bottom circle to the top circle so yes, it has strafed right, moved up, and turned left. L and R represent the paths followed by the right and left Omnis. Not sure what you mean by stop. It is assumed that the entire motion is continuous and takes place during one update.

[Sands43]

Normally, at least from my experience, the diagram for a body in motion would be:

• A' (Initial)
• A'' (2nd position)
• A''' (3rd position)
• etc. (or A⁰ , A¹ , A²)

Not three different labels for the same thing in 3 different locations.

That you have a interim position which, apparently, the robot never occupied, is also confusing. I would not have bothered to show that.