Where can I find the ackermann steering equation (even better derivation) that is used in this plugin?

asked 2022-08-20 11:20:32 -0600

KhalidOwlWalid gravatar image

updated 2022-08-20 11:20:54 -0600

I am trying to model an ackermann steering (or any type of kinematic model there is).

I came across this plugin in gazebo but I am having a bit of a hard time trying to understand the equation used in this plugin. Can anyone provide me with some reference or resources that I could potentially use?

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