2. Consider the kinematic car, as shown below, y x 49 X where (x, y, y,0)T...

 

 

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2. Consider the kinematic car, as shown below, y x 49 X where (x, y, y,0)T is the depending on time t car configuration (x, y being the rear axle position, the car orientation, and the wheel steering angle,) and 1 is its parameter (length.) The kinematics model of such car is given by a set of differential equations i= cos y = cos sin 1 = 42 1 cos que sin que -U SCIENTIFIC & ENGINEERING PROGRAMMING, II Year EaCE, FoE, WrUST 2 where u and u are the car controls (its longitudinal speed, and the wheels turning speed,) and a dot denotes the time derivative, i.e. = d. (a) Simulate the behavior of the car with 1 = 1 for different initial conditions and con- stant controls. Prepare the simulations environment allowing for results visualization. Interpret the obtained results. 2. Consider the kinematic car, as shown below, y x 49 X where (x, y, y,0)T is the depending on time t car configuration (x, y being the rear axle position, the car orientation, and the wheel steering angle,) and 1 is its parameter (length.) The kinematics model of such car is given by a set of differential equations i= cos y = cos sin 1 = 42 1 cos que sin que -U SCIENTIFIC & ENGINEERING PROGRAMMING, II Year EaCE, FoE, WrUST 2 where u and u are the car controls (its longitudinal speed, and the wheels turning speed,) and a dot denotes the time derivative, i.e. = d. (a) Simulate the behavior of the car with 1 = 1 for different initial conditions and con- stant controls. Prepare the simulations environment allowing for results visualization. Interpret the obtained results.