# Acceleration formula for a differential steering robot

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

• possible duplicate of Calculate position of differential drive robot
– Ian
Oct 15 '14 at 14:10
• What about the acceleration? 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