A precursor single steering wheel car is a single steering wheel car (steer) with a steering wheel that can both steer and provide power. This type of vehicle is required to have a set of coaxial or approximately coaxial driven wheels in addition to the steering wheel (e.g., the two sets of driven wheels parallel and adjacent to the wheel axle under the fork of the fork lift truck), with the origin of the robot base coordinate system falling on the average wheel axle of the driven wheels. The x-axis of the robot base coordinate system is perpendicular to the driven wheel axle, as shown in the following figure:

At the same time, it is required that the steering wheel must not fall on the wheel axle of the driven wheels, i.e., b≠0.
The kinematic equation is:

Where is the linear velocity of the steering wheel, and are the linear velocity and angular velocity of the robot base under the kinematics center coordinates, respectively.