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Homework Help: Forward euler equations of motion

  1. Mar 28, 2009 #1
    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
    Last edited: Mar 29, 2009
  2. jcsd
  3. Mar 28, 2009 #2


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    Homework Helper

    The attached image is where again?

    As to your interest isn't the steering direction going to relate to the change of θ ?
  4. Mar 29, 2009 #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?

  5. Mar 29, 2009 #4


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    Homework Helper

    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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