Deployment of a Smooth Clothoid-Based Path Planningand Predictive Control for the Autonomous Navigationof a Car-Like Robot

Pinto, Renan Vicente; Velasquez, Andrés Eduardo Baquero; Pedraza, Ingrid Lorena Argote; Higuti, Vitor Akihiro Hisano; Gasparino, Mateus Valverde; Becker, Marcelo

doi:10.26678/abcm.cobem2019.cob2019-1683

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2020

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“…In literature, scaled vehicles are largely applied in diverse theoretical fields such as path planning (Pinto et al, 2019), dynamic response analysis (Koz lowski, 2019), rollover prevention (Treetipsounthorn and Phanomchoeng, 2018), and parameter identification (Polley et al, 2006).…”

Section: Motivationsmentioning

confidence: 99%

Model-Based Approach for Cornering Stiffness and Yaw Moment of Inertia Estimation of a Scaled Electric Vehicle

Ribeiro

Fioravanti

Paiva

2020

Anais Do Congresso Brasileiro De Automática 2020

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This paper addresses the problem of estimating the tire cornering stiffness coecient and the yaw moment of inertia of a scaled car-like vehicle. The method merges measurements information of the vehicle lateral response along with its nonlinear planar model. Aiming effective and accurate results, we propose solving an optimization problem based on a representative dataset obtained experimentally using a persistently exciting input. The validation of the proposed method is shown by comparing the agreement between numerical simulations, evaluated with the estimated parameters, with experimental data. Three representative maneuvers are considered for this purpose, including indoor and outdoor experiments.

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Section: Motivationsmentioning

confidence: 99%