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The main problem controlling the wheels speed after the kinematics conversion is that you are only controlling the response of the wheels to the setpoint, not the linear velocity response and the angular velocity response. See diagram below. This way, you will normally have 2 similar PIDs calibrated with the same parameters for controlling the wheels. ...


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Asking for the cheapest sensor does not make much sense without specifying a maximal error. Otherwise I propose to add a small rock, guess a zero-roll angle and you have a 'sensor' for free with a maximal error of 180deg. A real solution would rather be any IMU with a magnetometer (like the MPU9255). It's around 10$ and would give you the information you ...


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