- #1

Dohako

- 1

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- Homework Statement
- I need to find coefficients for car, all of them must be about the same car, but I don't kbow where to look, can you help me?

- Relevant Equations
- m - mass of the WMR

J - moment of inertia of the WMR about G

F_d - driving force

F_f; F_r - front and rear wheel lateral forces

T - time constant of the steering system

u_s - steering control input

K - a constant coefficient (gain)

Fd - (1/r=tau_d), with r the rear wheel radius, and tau_d the applied motor torque.2

**Homework Statement:**I need to find coefficients for car, all of them must be about the same car, but I don't kbow where to look, can you help me?

**Homework Equations:**m - mass of the WMR

J - moment of inertia of the WMR about G

F_d - driving force

F_f; F_r - front and rear wheel lateral forces

T - time constant of the steering system

u_s - steering control input

K - a constant coefficient (gain)

Fd - (1/r=tau_d), with r the rear wheel radius, and tau_d the applied motor torque.2

So I tried to look in google, but all I found is same books, from which I took this formulas. The book is "introduction to mobile robot control"