Given a robot with 2 wheels with radius r on one axle with length D, I want to set the wheel speed so that it turns to an angle phi as fast as possible. The timestep t is 64 milliseconds.
I thought the wheel speed could be set to v = ((desired_heading-actual_heading) * circumference_wheel_trajectory)/(2*pi * t * wheel_radius). This will converge to a somewhat right angle, eventually, but its very slow and becomes slower as I approach the angle I want to be at.
Is there an alternative/better way to do this?