How does wheel rotation distance affect line tracking on a curve?

The inner wheel traveling a shorter distance is a fundamental concept in line tracking, especially when navigating curves. In a scenario where a robot follows a path, such as a line on the ground, the robot's wheels must move in accordance with the curve's geometry.

When negotiating a curve, each wheel of the robot will traverse a different distance; the inner wheel (the one closer to the center of the curve) will naturally travel a shorter distance compared to the outer wheel, which travels a longer distance because it is farther from the center of the curve. This differential in distance is critical for maintaining proper alignment with the line being tracked. If the inner wheel doesn't rotate enough to match its shorter path while the outer wheel continues to rotate more, the robot will tend to drift towards the inner side of the curve, which can cause it to lose track of the line.

To maintain accurate tracking on a curve, it is important for the robot's control system to compensate for this difference in rotation distance. This means that the robot may need to adjust the speed or rotation of the wheels dynamically, ensuring that the paths they follow align relatively closely to the center of the curve being tracked. Thus, understanding wheel rotation distances is pivotal in effective line tracking on curves