The main purpose of dressing like a beggar and arriving was to avenge the suitors.
Odysseus was motivated to dress as a beggar because:
He wants revenge against the suitors.
While Odysseus was away from his home, people have lost the faith that he might return. Because of this, the rival kingdoms wanted to capture the kingdom of Odysseus by marrying his wife Penelope.
These suitors had arrived to marry Penelope in the absence of Odysseus. Odysseus planned to disguise himself so that no one present in the court can recognize him. He wanted to find the real intentions of the people. Disguising was also one of the ways for preventing himself from the attacks of his enemies.
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