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?


  • 1
    $\begingroup$ possible duplicate of Calculate position of differential drive robot $\endgroup$
    – Ian
    Commented Oct 15, 2014 at 14:10
  • $\begingroup$ What about the acceleration? $\endgroup$
    – Pototo
    Commented Oct 16, 2014 at 14:56
  • $\begingroup$ 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. $\endgroup$
    – Ian
    Commented Oct 16, 2014 at 20:09


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