Odometry and speed control of a 4WD mobile robot integrated with ROS 2

Resumo

With the advancement of technology and artificial intelligence, robots are increasingly used in various
applications. There are various types of mobile robots, such as air, land and sea. Among the various types of
wheeled mobile land robots, the differential drive 4WD mobile robot stands out for its better performance in
navigating outdoor environments, mainly due to the presence of four-wheel drive. However, the differential drive
4WD robot exhibits greater wheel slippage especially in the moments of rotation. This type of behavior
complicates the accuracy of classical localization methods, such as odometry. In this paper, a real case of odometry
implementation is presented, as well as wheel speed modeling and speed controller implementation in a 4WD
robot. To enable the use of more advanced libraries and later the development of various applications, the odometry
and linear and angular speed control of the robot were integrated into the ROS (Robot Operating System). Practical
results in internal and external environments are presented at the end of the paper using graphs and a video with
an access link.