What modification might prevent a robot from drifting while moving straight?

To understand why ensuring both encoders provide equal readings is the best modification to prevent a robot from drifting while moving straight, it’s important to recognize the role of encoders in robotic motion control. Encoders measure the rotation of the robot's wheels, providing critical feedback about the distance each wheel has traveled. If one wheel is turning more than the other, the robot will veer off course, leading to drifting.

By making sure that both encoders record equal readings, adjustments can be made to the motor commands to ensure that both wheels receive identical power and travel the same distance. This precise control helps maintain a straight path, effectively eliminating any drift due to unequal wheel movement. The uniform encoder readings allow for a more stable trajectory and improved navigation, especially over varying terrains.

In contrast, increasing the motor power might lead to faster movement but would not correct any imbalance between the wheels, potentially worsening the drift. Reducing the weight of the robot may improve overall balance and capture additional performance benefits, but it does not address the fundamental issue of wheel rotation disparity. Installing additional sensors could enhance the robot’s awareness of its surroundings or provide additional feedback mechanisms, but without correcting the core issue of equal encoder readings, they won't resolve drift by themselves.

Therefore, focusing