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四轮移动机器人的驾驶和驱动系统的左右轮分别装上里程仪，里程仪的读数反映了车轮转过的角度和转向，在车轮直径固定的情况下，便可计算出车轮的移动距离．根据左右车轮的记数值，可以计算出车体的位置和方位．本文对前后轮双里程仪系统进行了对比分析，在相同的误差下，驱动轮双里程仪系统优于前轮驾驶角和双里程仪器系统，这对实际工作有指导作用．
The left and right wheels of the driving and driving system of the four-wheel mobile robot are respectively loaded with the mileage meter. The reading of the mileage meter reflects the angle and the steering direction of the wheel, and the wheel movement distance can be calculated under the condition that the wheel diameter is fixed. According to the left and right wheel count value, you can calculate the position and orientation of the body. In this paper, a comparative analysis of the front and rear dual-range system is carried out. Under the same error, the dual-range system of the driving wheel is superior to the front-wheel driving angle and dual-range instrument system, which is instructive to practical work.