In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations.
but is there really difference between two wheels differential mobile base and tracked/continuous tracks differential robot (Tank Treads) inverse kinematics equations?
I using this inverse kinematics of differential equation:
Which 'r' is wheel radius, 'd' is robot width, 'v' is linear velocity, 'w' is angular velocity, and thetaR and thetaL are left/right wheel RPM that you want them.
- For autonomous drive, I use DWA Planner that send v, w to my driver which inverse kinematics is here, and my driver calculate thetaR/thetaL of each posted v,w.
- For manualy driving, I use many of teleop node, that all of them sends v, w too.