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I'm building a simple 2D simulator for mobile robots, and I'd like to be able to determine the translation and rotation of a 2-wheeled simulated robot based on simple kinematics (no forces, friction etc). So, given these:

- angular velocity of each wheel (rad/s)

- wheel radius (m)

- distance between the wheels (m)

I'd like to have a formula / method for determining the robot's translation in the x,y plane and its rotation, given a certain timestep size (e.g., given the above three variables, how much will the robot translate and rotate in 64ms). I know that when e.g. the left wheel moves faster than the right, the robot will start to turn to the right, but I can't figure out / find how.

Thanks in advance for the help!