Calculating angular velocity when given two wheels speed

[Idaan]

Hello everyone. I'm new here, though I've been using the site for a long time now. Now, I have a question. =)

Suppose I have a vehicle with 3 wheels, one frontal passive wheel, and two wheels with different motors in the back. How will I go about calculating the angular velocity of the car, if given the velocity of each wheel? Or maybe given the relation between the two said speeds?

Regards,
Idaan.

 

[Baluncore]

Welcome to PF.

You can measure the velocities v1 and v2 of the two wheels.
The velocity of the midpoint between those will be the average. v = (v1 + v2) / 2

Knowing v1, v2, and the (radial) distance between w1 and w2 you can work out the radius of the turn, r, since the ratio v1/r1 = v2/r2 = v/r.

You now know the velocity, v, and radius, r, so you can work out the time to do a one radian turn.
The reciprocal of that is the angular rate.