DocumentCode :
3626602
Title :
Dynamics modeling and parameter identification for autonomous vehicle navigation
Author :
Kristijan Macek;Konrad Thoma;Richard Glatzel;Roland Siegwart
Author_Institution :
Swiss Federal Institute of Technology Zurich, Switzerland
fYear :
2007
Firstpage :
3321
Lastpage :
3326
Abstract :
This paper focuses on development of a dynamic model for an Ackermann-like vehicle based on a static tire-road friction model and laws of technical mechanics. The model takes as input the steering angle of the wheels in front and the rotational velocities of the drive wheels in the back of the vehicle. It delivers a 3-DOF output in terms of CoG vehicle velocity, body slip angle and the yaw rate of the vehicle in the x-y plane, as well as estimates on the forces acting on the system. It is suitable for modeling dynamic vehicle regimes in e.g. overtaking maneuvers/obstacle avoidance and lane-keeping, enabling active steering control by stabilizing the dynamics of the vehicle. The physical model description is based on previous works combined with a suitable friction model that is tractable in practice. Experimental verification of the obtained model is given for the Smart testing vehicle platform, where a separate analysis is done for directly measured as opposed to estimated/optimized parameters of the model.
Keywords :
"Vehicle dynamics","Parameter estimation","Remotely operated vehicles","Mobile robots","Navigation","Friction","Wheels","Vehicle driving","Testing","Intelligent vehicles"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
ISSN :
2153-0858
Print_ISBN :
978-1-4244-0911-2
Electronic_ISBN :
2153-0866
Type :
conf
DOI :
10.1109/IROS.2007.4399640
Filename :
4399640
Link To Document :
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