MATLAB Answers

Difference Between Ackermann Kinematic Model and Bicycle Kinematic Model

45 views (last 30 days)
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?

Accepted Answer

Prudhvi Peddagoni
Prudhvi Peddagoni on 1 Oct 2020
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.

More Answers (0)




Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!