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I have a fairly simple question, but I am a newbie. I have to move a tricycle from one position to another. The position of the middle of the two back wheels is described as X_initial = (x, y, theta). The function (in matlab, but I guess it could be in any language) should take in parameter the initial position, the angle of the front wheel (phi), the speed of the front wheel (meter/second) and the duration (in second) and then return the new position X_current (x,y, theta).

The distance between the two back wheels is Z cm and the distance between X and the front wheel is also Z cm.

How can I calculate such a problem?

Thanks

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# Moving tricycle

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