Difference Between Ackermann Kinematic Model and Bicycle Kinematic Model

In the simulink Robotics System Toolbox, the Ackermann Kinematic Model block and Bicycle Kinematic block both output the x and y position states of the vehicle, using the kinematic equations. I want to know, what is the difference between the models used in these blocks, since a car kinematic model can be simplified as a bicycle model.

From what I understood, the ackermann model will gives us the steering angles of each wheel, since they are not the same. but in the end, what does this mean for the x and y position of the base? What is the difference between just using a bicycle model for the state estimation of a car-like robot, and the ackermann model, assuming our control inputs are steering angle, and vehicle velocity?

Answer 1

[Prudhvi Peddagoni]

Hi,

There will be difference in the outputs of Ackermann Kinematic Model block and Bicycle Kinematic block. The working of various models like bicycle, unicycle, Ackermann and differential-drive kinematic models are documented in the examples section of this link.

Hope this helps.