Some preliminary indications
Here the main points for the mobile robot simulator to be developed in Unity:
- Build a realistic mobile robot model. To do so use WheelColliders elements that allow to input torque to each wheel. You can follow this tutorial as an example: https://www.youtube.com/watch?v=j6_SMdWeGFI
- Add the velocity control loop with a PID. Here a generic article: https://www.motioncontroltips.com/faq-servo-motor-current-velocity-position-loops-bandwidths/ . Here an example using Arduino (the sw will be different but the logic and the control scheme is appropriate): https://docs.simplefoc.com/angle_loop. Also: https://docs.odriverobotics.com/v/0.5.5/control.html .And many other can be found. NOTE: you do not have to develop the position loop but only the torque and velocity ones.
- develop a path planning strategy (point2point or splines, etc) based on gesture interaction
- develop the path control in real time (euristic, linearized, …)