(adsbygoogle = window.adsbygoogle || []).push({}); 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

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# Forward euler equations of motion

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