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Forward euler equations of motion 
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#1
Mar2809, 05:36 PM

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1. The problem statement, all variables and given/known data
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. 2. Relevant equations r = w/α where w=4 is the wheel base. 3. The attempt at a solution 


#2
Mar2809, 09:48 PM

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P: 5,341

The attached image is where again?
As to your interest isn't the steering direction going to relate to the change of θ ? 


#3
Mar2909, 02:48 AM

P: 5

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/P...lRAS393.pdf 


#4
Mar2909, 11:22 AM

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P: 5,341

Forward euler equations of motion
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.



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