Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System

Tomáš Lipták^1, , Michal Kelemen¹, Alexander Gmiterko¹, Ivan Virgala¹, Ľubica Miková¹ and Darina Hroncová¹

¹Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Ľubica Miková and Darina Hroncová. Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System. Journal of Automation and Control. 2016; 4(2):15-21. doi: 10.12691/automation-4-2-2

Abstract

The article deals with the issue of mathematical modelling of nonholonomic system. The introductory part of article contains theory about different approaches of mathematical modelling that we used. Further we explained the basic principle of Ackerman steered car-like system. Then it contains the determination of mathematical model for Ackerman steered car-like system where we consider ideal source of velocity. In the last part we compared and showed individual advantages and disadvantages of approaches of mathematical modelling.

Keywords:
Lagrangian mechanics geometric mechanics Ackerman mathematical model vector fields

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