Equations of Motion

Equations of Motion

Derivation of Motion Equations for an Ackerman Steered Vehicle

Figure 1: Diagram of a Tricycle steered vehicle. We will use this as an approximation of an Ackerman vehicle.

The topic from ROS will provides us with:

: the x-velocity of the vehicle.

: the angular velocity of the vehicle about the z-axis.

Controllable variables in USARSim (what we must solve for):

: the steering direction

:the linear velocity of the vehicle

The final equations are: