6.Four wheel differential model for mobile robots

A four-wheel differential model for mobile_robots can be found as:

Final dynamic:

\[\left[\begin{array}{c} V_L \\\ V_R\end{array}\right] =\left[ \begin{array}{cc} 1 & -\frac{c}{2} \\\ 1 & \frac{c}{2} \end{array} \right] \left[ \begin{array}{c} v_{cx} \\\ w_c \end{array}\right].\]

References:

四轮差速运动学模型 and 视频讲解

不同移动机器人运动模型的特点

常见底盘运动学