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Steering concept

  1. Jan 11, 2014 #1
    Hi,
    I am new to control system and coding.my problem is suppose we have a steering value and know we need to turn the vehile. I facing difficulty in understanding some equations.

    Code (Text):
           phi=T*st. %here st. is steering value and 'T' is some constant ,
    but I am facing difficulty to understand what it is? whether it is time constant or something else.
               % radius of curvature (ICC)
                R=L/tan(phi);
                str.=30*(V/R);% cann't understand what the use of this equation. here 'v' is some constant.
                theta new=theta+str.; %theta is vehicle angle.
                %centre of curvature(ICC)
                A=X-R*sin(theta);
                B=Y+R*cos(theta);
                %new position of rear axle mid point
                X=A+R*sin(theta new);
                Y=B-R*cos(theta new);
     
    Last edited: Jan 11, 2014
  2. jcsd
  3. Jan 12, 2014 #2
    Code (Text):
    str.=30*(V/R);% cann't understand what the use of this equation. here 'v' is forward velocity of vehicle.
    image_from_jhki.png
    please help me in understanding the concept of this equation.
    How can we get an angle from R (ICC) and V (velocity)
     
    Last edited: Jan 12, 2014
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