- A swerve drive is an advanced wheel configuration in which each wheel module can rotate independently and drive under its enabling omnidirectional movement, zero-radius turns, and exceptional maneuverability.
- In this project, we designed three custom swerve modules, each equipped with a motor for steering and another for propulsion.
- The orientation of each drive module is measured using an angle sensor, and its steering motor is controlled by a PID controller to accurately achieve the target angle.
- An Arduino Mega simultaneously computes the steering angles and wheel speeds to perform real-time odometry estimation.
- It then publishes the odometry messages over the CAN bus in real time.
- The entire system is operated under the ROS 2.
For a detailed explanation, please refer to the following link:
Swerve Drive Documentation