Ackermann Steering Chassis

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A mobile base that turns by angling its front wheels, like a car.

An Ackermann chassis uses the same steering geometry as a car: when turning, the inner front wheel angles more sharply than the outer one, so all the wheels roll around a common center point, reducing tire scrub. It suits higher speeds and outdoor surfaces, and its structure matches a car's, so it's common in self-driving test vehicles, campus delivery robots, and teaching robot cars. Its downside is that it can't turn in place and has a minimum turning radius — it's a nonholonomic system (it can't move directly sideways) — so path planning has to account for this, often using algorithms like hybrid A* or pure pursuit. Indoor mobile-manipulation robots more often use a differential-drive or omnidirectional-wheel base instead.

ExampleMany self-driving teaching cars and ROS robot-car kits use an Ackermann chassis, tracking a planned path with a pure-pursuit algorithm.

Also called: Ackermann Chassis
Related: Mobile Base (Chassis) · Differential Drive Base · Nonholonomic Constraint · Hybrid A* · Pure Pursuit · Autonomous Driving
Sources: Ackermann steering geometry - Wikipedia