jcontrolresearch
commented
4 years ago No longer needed. Ackermann dynamics will be covered on #21
Closed jcontrolresearch closed 4 years ago
jcontrolresearch
commented
4 years ago No longer needed. Ackermann dynamics will be covered on #21
Create a model black box to Akcermann.
Considerations:
The Ackermann Bicylce Kinematic Model block will 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 angle psi. The vehicle heading theta is defined at the center of the rear axle.
Inputs:
[v] Vehicle speed, specified in meters per second.
[psi] Steering angle of the vehicle, specified in radians.
[omega] Angular velocity of the vehicle, specified in radians per second. A positive value steers the vehicle left and negative values steer the vehicle right.
Outputs:
[state] Current xy-position and orientation of the vehicle, specified as a [x y theta] vector in meters and radians.
[state_dot] The linear and angular velocities of the vehicle, specified as a [xDot yDot thetaDot] vector in meters per second and radians per second. The linear and angular velocities are calculated by taking the derivative of the state output.
Parameters:
Vehicle inputs — Type of speed and directional inputs for vehicle Vehicle Speed & Steering Angle (default) | Vehicle Speed & Heading Angular Velocity placeholder.
Wheel base — Distance between front and rear axles 1 (default) | positive numeric scalar The wheel base refers to the distance between the front and rear vehicle axles, specified in meters.
Vehicle speed range — Minimum and maximum vehicle speeds [-Inf Inf] (default) | two-element vector The wheel speed range is a two-element vector that provides the minimum and maximum vehicle wheel speeds, [MinSpeed MaxSpeed], specified in radians per second.
Maximum steering angle — Max turning radius pi/4 (default) | numeric scaler The maximum steering angle, refers to the maximum amount the vehicle can be steered to the right or left, specified in radians. The default value, pi/4 provides the vehicle with minimum turning radius, 0. This property is used to validate the user-provided state input.
Initial state — Initial pose of vehicle [0;0;0] (default) | three-element vector The initial x-, y-position and orientation, theta, of the vehicle.
Recommendations:
Refer to bicycle car model geometry on here to solve