Summary

This chapter was about the fundamental concepts of differential drive robots, and looked at how you can derive the kinematics equations of such robots. At the start of the chapter, we saw the basics of differential drive robots, and then we discussed the forward kinematics equations that are used in these robots. These equations were explained using diagrams. After looking at forward kinematics equations, we looked at the inverse kinematics equations for differential drive robots. We also looked at the basics of inverse kinematics equations.

In the next chapter, we will see how we can create a simulation of the autonomous mobile robot using ROS and Gazebo.