Intro
Differential Drive Kinematics
https://youtu.be/RjhBRn6lDSM?si=tIZkSjUbJqfTPXzg&t=575
For a differential drive robot, the wheels should be as close to the centerline as possible. The wheels will rotate about the center of the common wheel axis, so if it’s too far back, for example, the whole chassis will swing around.
