Register to reply

Forward euler equations of motion

by sabatier
Tags: equations, euler, forward, motion
Share this thread:
sabatier
#1
Mar28-09, 05:36 PM
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
Phys.Org News Partner Science news on Phys.org
Security CTO to detail Android Fake ID flaw at Black Hat
Huge waves measured for first time in Arctic Ocean
Mysterious molecules in space
LowlyPion
#2
Mar28-09, 09:48 PM
HW Helper
P: 5,343
The attached image is where again?

As to your interest isn't the steering direction going to relate to the change of θ ?
sabatier
#3
Mar29-09, 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...l-RAS-39-3.pdf

LowlyPion
#4
Mar29-09, 11:22 AM
HW Helper
P: 5,343
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.


Register to reply

Related Discussions
Forward euler calculations for position and orientation General Physics 1
Euler equations Precalculus Mathematics Homework 9
Dr Euler and characteristic equations General Math 1
Euler' s equations and tau = zero? Introductory Physics Homework 3