相关论文: Nonholonomic dynamics and control of road vehicles…

Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…

The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…

Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…

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…

The data presented here show that human drivers apply a discrete noisy control mechanism to drive their vehicle. A car-following model built on these observations, together with some physical limitations (crash-freeness, acceleration), led…

The main directions in the development of the nonholonomic dynamics are briefly considered in this paper. The first direction is connected with the general formalizm of the equations of dynamics that differs from the Lagrangian and…

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…

In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…

Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body…

In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…

We approach the analysis of dynamical and geometrical properties of nonholonomic mechanical systems from the discussion of a more general class of auxiliary constrained Hamiltonian systems. The latter is constructed in a manner that it…

A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…

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…

Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…

This paper introduces a car following model where the driving scheme takes into account the deficiencies of human decision making in a general way. Aditionally, it improves certain shortcomings of most of the models currently in use: it is…

In recent years statistical physicists have developed {\it discrete} "particle-hopping" models of vehicular traffic, usually formulated in terms of {\it cellular automata}, which are similar to the microscopic models of interacting charged…