Related papers: A dynamical model of remote-control model cars
Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a…
In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…
A rather simple car driving simulator was created based on the available open source engine TORCS and used to analyze the basic features of human behavior in car driving within the car-following setups. Eight subjects with different skill…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
Floating car data of car-following behavior in cities were compared to existing microsimulation models, after their parameters had been calibrated to the experimental data. With these parameter values, additional simulations have been…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
We derive macroscopic traffic equations from specific gas-kinetic equations, dropping some of the assumptions and approximations made in previous papers. The resulting partial differential equations for the vehicle density and average…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
A fair simple car driving simulator was created based on the open source engine TORCS and used in car-following experiments aimed at studying the basic features of human behavior in car driving. Four subjects with different skill in driving…
Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…
We study a hierarchy of models based on kinetic equations for the descriptions of traffic flow in presence of autonomous and human--driven vehicles. The autonomous cars considered in this paper are thought of as vehicles endowed with some…
Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging issues, which arises from that the denominator of tire side…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
This paper deals with the modeling and mathematical analysis of vehicular traffic phenomena according to a kinetic theory approach, where the microscopic state of vehicles is described by: (i) position, (ii) velocity, as a continuous…
For dynamic manipulation of flexible objects, we propose an acquisition method of a flexible object motion equation model using a deep neural network and a control method to realize a target state by calculating an optimized time-series…
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…