We present a general approach to model the motion of a rigid body ground vehicle on a smooth nonplanar road surface. We generalise planar control-oriented models while preserving standard model states, inputs and outputs. We derive our approach from first principles, apply it to existing vehicle modelling approaches and test it through real-world experiments. We demonstrate that our approach improves upon the prediction accuracy of planar models.


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    Titel :

    Models for ground vehicle control on nonplanar surfaces


    Beteiligte:
    Fork, Thomas (Autor:in) / Tseng, H. Eric (Autor:in) / Borrelli, Francesco (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 62 , 4 ; 976-1000


    Erscheinungsdatum :

    2024-04-02


    Format / Umfang :

    25 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Nonplanar wings in nonplanar ground effect.

    DAVIS, J. E. / HARRIS, G. L. | AIAA | 1973


    Models and Predictive Control for Nonplanar Vehicle Navigation

    Fork, Thomas / Tseng, H. Eric / Borrelli, Francesco | IEEE | 2021