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If you want to have a model that will behave closely to a real-life one, I would definitely believe that you should also have a look at the dynamic modeling of a differential drive robot, as Kinematic equations do not include the forces and torques acting on your robot. In fact during the simulation part of a real-world control problem, you should use the ...


A linear function of velocity is one of the simplest ways to model the drag force. Finding good values for the three coefficients is usually determined by collecting data from a quadrotor, and picking those values for which this linear model predicts the acceleration closest to that measured from the real data. E.g. minimizing the sum of squares of the error ...

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