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.
Models for ground vehicle control on nonplanar surfaces
Vehicle System Dynamics ; 62 , 4 ; 976-1000
2024-04-02
25 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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