Differential drive
Also: two-wheel differential drive
A mobile base steered by commanding left and right wheel speeds independently.
Center speed is the mean wheel speed and yaw rate is their difference divided by track width under no-slip planar assumptions.
- Formula
v=(vR+vL)/2; ω=(vR−vL)/b
Example Equal wheel speeds drive straight; opposite speeds rotate approximately in place.
Common misconception The kinematic model does not include slip, caster effects, or motor mismatch automatically.