# ackermannKinematics

## Description

`ackermannKinematics`

creates a car-like vehicle model that uses
Ackermann steering. This model represents a vehicle with two axles separated by the distance,
WheelBase. The
state of the vehicle is defined as a four-element vector, [*x y theta psi*],
with a global *xy*-position, specified in meters. The
*xy*-position is located at the middle of the rear axle. The vehicle heading,
*theta*, and steering angle, *psi* are specified in
radians. The vehicle heading is defined at the center of the rear axle. Angles are given in
radians. To compute the time derivative states for the model, use the `derivative`

function with input steering commands and the current robot state.

## Creation

### Description

creates an Ackermann kinematic model object with default property values.`kinematicModel`

= ackermannKinematics

sets additional properties to the specified values. You can specify multiple properties
in any order.`kinematicModel`

= ackermannKinematics(Name,Value)

## Properties

## Object Functions

`derivative` | Time derivative of vehicle state |

## Examples

## References

[1] Lynch, Kevin M., and Frank C.
Park. *Modern Robotics: Mechanics, Planning, and Control* 1st ed.
Cambridge, MA: Cambridge University Press, 2017.

## Extended Capabilities

## Version History

**Introduced in R2019b**