[1]REN Xiao-ping,CAI Zi-xing.Using the Ackerman principle for kinematic modeling of wheeled mobile robots[J].CAAI Transactions on Intelligent Systems,2009,4(6):534-537.[doi:10.3969/j.issn.1673-4785.2009.06.011]
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Using the Ackerman principle for kinematic modeling of wheeled mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 6 Page number: 534-537 Column: 学术论文—人工智能基础 Public date: 2009-12-25
Title:
Using the Ackerman principle for kinematic modeling of wheeled mobile robots
Author(s):
REN Xiao-ping;  CAI Zi-xing
School of Information Science & Engineering, Central South University, Changsha 410083, China
Keywords:
wheeled mobile robot;  kinematics model;  Ackerman principle;  turning characteristics
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.2009.06.011
Abstract:
Applying the Ackerman principle to kinematic modeling of wheeled mobile robots is of vital importance for improving the performance of unmanned autonomous vehicles. The kinematic characteristics of wheeled mobile robots were analyzed in this paper, and a kinematic model was set up that did not consider sliding or braking. The Ackerman principle was then introduced to this kinematic model. Mathematical formulas were proposed for turning angle, steering angle and turning radius. These accurately reflect the movement status of the mobile robot, providing a theoretical basis for analysis of future intelligent vehicles. The conclusions were validated through a simulation.
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