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?