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?