Motion planning of drifting vehicle with friction model considering nonholonomic constraint

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

研究成果: ジャーナルへの寄稿Conference article

1 引用 (Scopus)

抄録

Conventional motion planners for wheeled vehicles often assume no-slipping and no-skidding conditions and construct motion trajectories in the context of nonholonomic motion planning. However, in some practical situations slipping and skidding cannot be ignored or can even be useful. To take them into account in the construction of planning algorithms, it is important to model the friction force between the tire and the contact plane. In this paper, we first construct a model of the friction force as an extension of the two-dimensional Coulomb model, considering both the slipping conditions and the nonholonomic constraints. Next, we formulate the motion planning problem as a drift parking problem and propose a motion planning strategy combining the nonholonomic planner and the control in the slipping mode. The feasibility and the performance of the proposed strategy are tested under simulation.

元の言語英語
記事番号7139248
ページ(範囲)650-655
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2015-June
発行部数June
DOI
出版物ステータス出版済み - 1 1 2015
イベント2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, 米国
継続期間: 5 26 20155 30 2015

Fingerprint

Motion planning
Skidding
Friction
Parking
Tires
Trajectories
Planning

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Motion planning of drifting vehicle with friction model considering nonholonomic constraint. / Morinaga, Akihiro; Svinin, Mikhail; Yamamoto, Motoji.

:: Proceedings - IEEE International Conference on Robotics and Automation, 巻 2015-June, 番号 June, 7139248, 01.01.2015, p. 650-655.

研究成果: ジャーナルへの寄稿Conference article

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