Modeling a Differential Drive Robot
{"description": "The differential drive robot model in Duckietown.", "keywords": "mathematical modeling, differential drive, duckietown, robot, mobile robot"}
Modeling a Differential Drive Robot#
A differential drive robot is a particular mobile robot hardware configuration that relies on two independently driven wheels to move in the environment.
Differential drive is a simple configuration, yet not trivial. In this section we derive a kinematic model for a differential drive robot, mapping the input voltages to the motors to the output pose evolution over time, under simplifying assumptions.
For the accompanying exercise, please see Modeling and Control.