Motion planning of drifting vehicle with friction model considering nonholonomic constraint
Motion planning of drifting vehicle with friction model considering nonholonomic constraint
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DOI：
10.1109/icra.2015.7139248
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发表时间：
2015-05
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影响因子：
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通讯作者：
Akihiro Morinaga;M. Svinin;Motoji Yamamoto
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文献类型：
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作者：
Akihiro Morinaga;M. Svinin;Motoji Yamamoto
传统的轮式车辆运动规划器通常假设无滑移和无打滑的条件，并在非完整运动规划的背景下构建运动轨迹。然而，在某些实际情况下，滑动和打滑不能被忽视，甚至可能是有用的。为了在规划算法的构建中考虑它们，重要的是对轮胎和接触平面之间的摩擦力进行建模。在本文中，我们首先建立了一个模型的摩擦力作为推广的二维库仑模型，同时考虑了滑动条件和非完整约束。接下来，我们制定的运动规划问题的漂移停车问题，并提出了一个运动规划策略相结合的非完整规划器和控制的滑动模式。仿真结果验证了该策略的可行性和性能。
Conventional motion planners for wheeled vehicles often assume no-slipping and no-skidding conditions and construct motion trajectories in the context of nonholonomic motion planning. However, in some practical situations slipping and skidding cannot be ignored or can even be useful. To take them into account in the construction of planning algorithms, it is important to model the friction force between the tire and the contact plane. In this paper, we first construct a model of the friction force as an extension of the two-dimensional Coulomb model, considering both the slipping conditions and the nonholonomic constraints. Next, we formulate the motion planning problem as a drift parking problem and propose a motion planning strategy combining the nonholonomic planner and the control in the slipping mode. The feasibility and the performance of the proposed strategy are tested under simulation.