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Vehicle Models and Optimal Control on a Nonplanar Surface
Published 20 Apr 2022 in eess.SY and cs.SY | (2204.09720v2)
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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