Bicycle Kinematic Model
Compute car-like vehicle motion using bicycle kinematic model
- Library:
Robotics System Toolbox / Mobile Robot Algorithms
Description
TheBicycle Kinematic Modelblock creates a bicycle vehicle model to simulate simplified car-like vehicle dynamics. This model represents a vehicle with two axles defined by the length between the axles,Wheel base
. The front wheel can be turned with steering anglepsi
. The vehicle headingtheta
is defined at the center of the rear axle.
Ports
Input
Output
Parameters
Model Examples
References
[1] Lynch, Kevin M., and Frank C. Park.Modern Robotics: Mechanics, Planning, and Control1st ed. Cambridge, MA: Cambridge University Press, 2017.
[2] Corke, Peter I.Robotics, Vision and Control: Fundamental Algorithms in MATLAB. Springer, 2011.