I would like to learn, how to find proper kinematic model of robot in mathematical form.
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)
- constant speed of wheels's rolling
- 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.