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