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arXiv · 2204.09720

Vehicle Models and Optimal Control on a Nonplanar Surface

Thomas Fork·H. Eric Tseng·Francesco Borrelli
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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.

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Thomas Fork, H. Eric Tseng, Francesco Borrelli. 2022-04-20. Vehicle Models and Optimal Control on a Nonplanar Surface. https://arxiv.org/abs/2204.09720

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