AGV 差速驱动原理.pdf
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Differential Drive Vehicle N-CART
Constructing a Differential Drive Mobile Robot from
Simple Components
Network-Centric Applied Research Team
School of Computer Science
Ryerson University
Introduction
One of the most difficult problems associated with construction mobile robots is starting.
This document is designed to give you a quick introduction into the theory behind a
differential drive mobile robot followed by a description of how such a robot can be built
from commonly available components.
Differential Drive Theory
One meaning of differential is simply proceeding at different rates. Keeping this in
mind, a differential drive is one where the drive--or movement--components of the
vehicle move at different rates. For example, the diagram below illustrates a very simple
differential drive vehicle.
Glide
Wheel Wheel
Motor Motor
Figure 1 Simple Differential Drive
Each wheel is connected to its own motor. A glide or unpowered castor wheel provides
balance at one end of the vehicle. If both motors spin at the same rate and all components
are identical then the vehicle will move in a straight line. If one wheel spins faster than
the other does, the vehicle will have a tendency to turn in the direction opposite to the fast
wheel. If each wheel spins in the opposite direction of the other, the vehicle will turn in
place.
This form of steering is commonly found on tracked vehicles such as tractors and tanks.
The drive has the advantage of simplicity and a very tight turning radius.
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