Version 2.0
Segway RMP – User Guide
20277-00001 aa
23
Turning
The Segway RMP uses a simple algorithm to control turning – the right and left wheels are driven
at different speeds. The commanded yaw rate of the RMP is calculated in two ways. At low
speed, the turning input is used to specify a rotation rate (e.g. radians per second). At higher
speeds, the turning input specifies a lateral acceleration (e.g. m/sec
2
toward the center of the
turn). The RMP speed is used to calculate the appropriate yaw rate to produce the commanded
lateral acceleration. This provides better controllability at speed because it reduces the effective
sensitivity of the turning input as the speed increases. The following figure depicts this effect
graphically:
