I would like to learn, how to find proper kinematic model of robot in mathematical form.

For example:

I would like to create a model of a car, from which I could compute its position and rotation at given time steps.

Assume Ackerman steering system and knowns l, w (see picture)

Inputs are:

  1. constant speed of wheels's rolling
  2. variable velocity of wheels's steering

I found similar problem here path-of-a-simple-turning-car. I think principal is the same, but my question is what are the steps to find proper model. I understand the equations in the link, but I would not be able to make them on my own and slight change in geometry of robot would confuse me.


  • $\begingroup$ Have you looked at Gazebo? gazebosim.org $\endgroup$ Feb 26, 2021 at 7:27
  • $\begingroup$ This is a good idea, thanks. $\endgroup$ Mar 2, 2021 at 20:20

1 Answer 1


This lecture from Georgia Tech's Control of Mobile Robot's Coursera class derives the bicycle model; https://youtu.be/cQWhYCrK06M

  • $\begingroup$ Thank you for an answer. $\endgroup$ Mar 21, 2021 at 21:56

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