Abstract
This chapter surveys the most common wheeled mobility configurations, discussing some of their pros and cons. A differential drive is made of two parallel drive wheels on either side of the robot, powered separately, with one or more casters (pivoting wheels) that help support the weight, but that have no active role. It is called a differential drive because the robot motion vector results from two independent components (it's of no relation to the differential gear, which is not used in this configuration). When both the drive wheels turn in the same direction at the same speed, the robot goes straight. If the wheels rotate at the same speed but in opposite directions, the robot turns in place, pivoting around the midpoint of the line that connects the drive wheels. There are many ways to maintain a straight path when using a simple differential drive. The easiest approach involves reducing the effect by choosing two motors with similar speeds. Furthermore, this chapter discusses building a skid steer drive; it is a variation of the differential drive. It is normally used with tracked vehicles, but sometimes with 4- or 6-wheel platforms as well. For tracked vehicles, this drive is the only possible driving scheme. Good examples of skid steer drives in real life are excavators, tanks, and a few high-end lawnmowers.
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