I am working on a simulation of a two-wheeled robot, and at present am driving it by setting each individual wheel's velocity. The robot is similar to an ePuck:
What I would like to do is set an initial (and constant) overall speed for the robot, and simply command it to turn by a specified angle while moving. At this point, I'd like to keep the model simple and not worry as much about acceleration.
Essentially, what I would like to do is command it to turn by 90 degrees, as shown in the next picture. On that basis, with a constant speed on the forward motion of the body itself, what I'd like to know is how to calculate the appropriate velocity of each wheel separately.