I've been asked to take a look at algorithms for treating
an Ackerman steering system for a robotics path-planning
application. Although I've done web searches and found
thousands of references, few of them have been very useful
to me. Perhaps I've missed the good stuff... Anyway,
I was wondering whether anyone could recommend a web
resource or a good book that would cover the kinematics
of Ackerman steering. While I lack ready access to a
technical library, I can get many books through an
inter-library loan if I have a title.

My main problem is that I have basically zero experience with real mechanics. So far, I've worked out a solution where I "fake it" by assuming that the wheels are somehow set to the correct geometry and ignoring the mechanical linkages that make it happen... the solution is easy enough, but I suspect that it will prove too inaccurate when we start adapting it to a real robot.

Anyway, thanks in advance for your help.

Gary

My main problem is that I have basically zero experience with real mechanics. So far, I've worked out a solution where I "fake it" by assuming that the wheels are somehow set to the correct geometry and ignoring the mechanical linkages that make it happen... the solution is easy enough, but I suspect that it will prove too inaccurate when we start adapting it to a real robot.

Anyway, thanks in advance for your help.

Gary