Bicycle

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Bicycle#

The kinematics of vehicles with steering wheels, like bicycles and cars:

\[\omega = v \frac{\tan \alpha}{l}\]

where \(l\) is the distance between the front and rear wheels and \(\alpha \in [-\alpha_\max, \alpha_\max]\) is the steering angle.

Example#

The video has been recorded using

$ navground_py record_video bicycle.yaml bicycle.mp4 --factor 1 --grid 1 --area -3 -1.5 3 1.5

with the following configuration

steps: 600
time_step: 0.0333
scenario:
  groups:
    - type: car
      color: darkgreen
      number: 1
      radius: 0.25
      control_period: 0.1
      orientation: 1
      kinematics:
        type: Bicycle
        max_speed: 1
        max_backward_speed: 0.5
        max_steering_angle: 0.7
        axis: 0.35
        k: 0.5
      behavior:
        type: Dummy
      task:
        type: Waypoints
        waypoints: [[3, 0], [0, -1], [0, 1], [-3, 0]]
        loop: true
        tolerance: 0.5
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