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Re: 4wd vs 6wd?
Team 42 (P.A.R.T.S.) has used a 6-wheel drive system for several years now. The center wheel is dropped (as I recall) 1/4" and we drive all 3 wheels on each side.
If you don't drop the center wheel enough, then the extra friction from the outer 4 wheels can make the current draw really spike up when turning.
We have found that your choice of wheels also can make a big difference. A robot that would barely turn at all on carpet without browning out a couple years ago turned just fine after we changed the corner wheels back to solid core instead of the pneumatics we had mounted for extra traction. There can be too much of a good thing...
For the last 2 years we have used slightly deflated pneumatics as the center wheels and solid cores on the corners. That gives us a nice balance between traction and turning ability.
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