Vehicle Models and Optimal Control on a Nonplanar Surface

TL;DR

This paper introduces a 10 DoF vehicle model for controlling vehicles on nonplanar surfaces, using parametric surface descriptions to optimize trajectories and compare different modeling approaches.

Contribution

It presents a novel 10 DoF vehicle model that incorporates nonplanar surface parameterization for improved trajectory planning and control.

Findings

Nonplanar models outperform planar models in trajectory optimization.

Parametric surface approach accurately describes complex road geometries.

Optimized trajectories reduce travel time on nonflat surfaces.

Abstract

We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces. A parametric surface is used to describe the road surface, allowing the surface parameterization to describe the pose of the vehicle. We use the proposed approach to compute minimum-time vehicle trajectories on nonplanar surfaces and compare planar and nonplanar models.