Simple Understanding of Kinematic Bicycle Model

1. Introduction

2D bicycle model can be expressed as a simplified car model. This is a classic model that does very well at capturing vehicle motion in normal driving conditions.

Fig1: Kinematic Constraint
Fig2. Three reference points of the kinematic model

2. Model Analysis

2.1 If the desired point is at the center of the rear axle.

Fig3: Rear Axle Bicycle Model
Fig4: Model Analysis of Rear Axle
Fig5. Model analysis of desired point at front axle
Fig6. Model analysis of desired point at cg
Fig7. Analysis of 𝛽 computation

3. Summary

Fig8. Simple robot motion model

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