Using the Ackerman principle for kinematic modeling of wheeled mobile robots

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.