where ΔsL, ΔsR, and Δs are moving distances of the left wheel,
the right wheel, and the COM of the robot respectively, Δθ is
the change of the azimuth angle of the robot, R is the radius of
curvature, W is the width of the robot, vL, vR, and v are the
velocities of the left wheel, the right wheel, and the COM of
the robot respectively. The velocity of the robot can be
obtained from (1) as follows: