2022/04/20 by Fork, Thomas, Tseng, H. Eric, Borrelli, Francesco
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2204.09720
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.