Acceleration formula for a differential steering robot

Asked Oct 07 '14 at 21:06

Active Oct 07 '14 at 21:06

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I have the formulas to derive the RPM's of each wheel from the robot's linear velocity. Now, I am trying to do the same thing for the acceleration (mainly angular acceleration). For linear acceleration I am always assuming that the linear velocity of the wheels is the same as the robots when the robot is moving on a straight line...according to physics. Am I right?

But angular acceleration seems more complicated, specially when the robot is following a curved path (not necessarily turning in place).

Any readings or ROS packages that deal with this acceleration issue?

Thanks

asked Oct 07 '14 at 21:06

Pototo

1

possible duplicate of Calculate position of differential drive robot – Ian Oct 15 '14 at 14:10
What about the acceleration? – Pototo Oct 16 '14 at 14:56
Acceleration is just $\frac{{\Delta} v}{{\Delta}t} $, so if you can solve for the position then you have enough data to solve for the velocity and acceleration just by measuring the changes over time. – Ian Oct 16 '14 at 20:09

Acceleration formula for a differential steering robot

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