Two and Four Wheels Differential Racing Bots

A comparative analysis is performed to examine the performance of two-wheeled and four-wheeled differential drive racing robots in a ROS-Gazebo simulation platform. The study is aimed at analyzing velocity, acceleration, torque distribution, and stability under the same racing scenario. Transformation matrices and motion parameters are obtained using kinematic and dynamic modeling to analyze movement efficiency and control features. The results indicate that although the two-wheeled robot has better acceleration and maximum speed, it performs poorly in terms of stability and skid when making sharp turns. However, the four-wheeled robot shows better trajectory control, lower torque oscillations, and improved stability and is better suited for high-speed racing applications. These findings yield a deeper understanding of the agility-control trade-offs in autonomous racing robots, which will form the basis for future enhancements like adaptive speed control and AI-based trajectory optimization.