If I know exactly where the vehicle will be next, there is no uncertainty. For example, If \( d_R = 1\,\mathrm{m}, \quad d_L = 0.8\,\mathrm{m} \), meaning- The right wheel travels 1 meter.- The left wheel travels 0.8 meters.- Since these distances are not equal, the robot will turn (instead of moving straight).- \( d \propto C \quad \text{or} \quad d = \alpha C \) meaning the distance moved (d)..
