Forward euler equations of motion

In summary, the conversation discusses the computation of equations of motion for a car, given the steering angle and linear velocity. The attached image and equations are referenced and the concept of forward kinematics is introduced. The equations on page 3 of a paper are mentioned as state equations based on the previous position and velocity applied to the angle and its rate of change.
  • #1
sabatier
5
0

Homework Statement



Hi, I'm trying to compute the equations of motion for a car as shown
in the attached image.

α = steering angle
θ = orientation of the car relative to the world coordinate system

Say you're given the linear velocity v and the steering
angle α. How do you compute the position and angle θ for a
particular time?

Any help appreciated.

Homework Equations



r = w/α where w=4 is the wheel base.

The Attempt at a Solution

 
Last edited:
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  • #2
The attached image is where again?

As to your interest isn't the steering direction going to relate to the change of θ ?
 
  • #3
Hi, I forget to attach the image, but I've attached it now.

Yes I presume the change of orientation is related to the
steering angle. But how did they get the forward
kinematic equations on page 3 of this paper?

http://cswww.essex.ac.uk/staff/hhu/Papers/Journal-RAS-39-3.pdf
 
  • #4
Those equations are state equations according to the material based of a sequential k+1 state of the previous position k. They look like position vectors based on the velocity applied to the angle θ and the rate of change of angle a applied to subsequent θ's.
 

1. What are the forward euler equations of motion?

The forward euler equations of motion are a set of mathematical equations used to describe the movement of an object in space. They are a simplified version of Newton's laws of motion and can be used to predict the position, velocity, and acceleration of an object at any given time.

2. How do the forward euler equations of motion work?

The equations work by breaking down the motion of an object into small time intervals. At each interval, the equations calculate the position, velocity, and acceleration of the object based on its previous state and the forces acting upon it. These calculations are repeated for each interval, resulting in a prediction of the object's motion over time.

3. What are the limitations of the forward euler equations of motion?

One limitation is that they are only accurate for small time intervals. As the intervals get larger, the predictions become less accurate. Additionally, the equations do not take into account factors such as air resistance or friction, which can affect the motion of an object in the real world.

4. How are the forward euler equations of motion used in scientific research?

They are often used in computer simulations to model the motion of objects in different scenarios. They are also used in engineering and physics experiments to make predictions about the behavior of systems. However, they are typically only used as a starting point and more complex equations are often used for more accurate results.

5. What are some real-world applications of the forward euler equations of motion?

The equations have been used to study the motion of planets in space, the behavior of projectiles, and the movement of fluids. They are also used in video game development to create realistic animations and in computer graphics to simulate the movement of objects. Additionally, they are used in the design of vehicles and aircraft to predict their motion and performance.

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