Vehicle Models and Optimal Control on a Nonplanar Surface

Code

• github.com/thomasfork/Nonplanar-Vehicle-Control
  OfficialIn papernone★ 18

Abstract

We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces. A parametric surface is used to describe the road surface, allowing the surface parameterization to describe the pose of the vehicle. We use the proposed approach to compute minimum-time vehicle trajectories on nonplanar surfaces and compare planar and nonplanar models.

Reproductions