[Aaron.Graeve]

The use of a_c = (V_t²)/r and the other equations only apply if the robot is moving in a circle. I do not know the skill of your drivers, but most drivers I have seen do not drive in circles. The V_t refers to the velocity of the object tangential to the acceleration.

The w_f = w₀ + xt is similar to v_f = v₀ + at. It is the rotational velocity of a body under constant rotational acceleration. x is the rotational acceleration in radians/(s²).

In circular motion, velocity, acceleration, and position can be related to their rotational analogues by dividing by the radius.

Another interesting idea (that may be completely wrong) is to use a gyro with the forward position to create a set of vectors that might be used to find position in a polar system.