# Forward euler equations of motion

by sabatier
Tags: equations, euler, forward, motion
 P: 5 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
 HW Helper 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 ?
 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...l-RAS-39-3.pdf
 HW Helper 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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