Simple Understanding of Kinematic Bicycle Model

1. Introduction

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

2. Model Analysis

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 ๐›ฝ computation

3. Summary

Fig8. Simple robot motion model

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