Aggressive maneuvers on loose surfaces: Data analysis and input parametrization
Aggressive maneuvers on loose surfaces: Data analysis and input parametrization
复制标题
在松散表面上进行激进的操作：数据分析和输入参数化
DOI：
--
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
J. Lu
中科院分区：
文献类型：
--
作者：
E. Velenis;Panagiotis Tsiotras;J. Lu
In this work we initiate a mathematical analysis of rally racing techniques. An empirical description of trail-braking (TB) and pendulum-turn (PT) cornering, two of the most common rally racing maneuvers, is provided via analysis of data collected during execution of these maneuvers by an expert rally driver. Trail-Braking and Pendulum-Turn maneuvering techniques are reproduced using numerical optimization as special cases of the minimum time cornering problem with specific boundary conditions. We show that a simple parametrization of the control inputs can be used to reproduce these maneuvers using a high fidelity full-car model.
