System Identification and Control of Front-Steered Ackermann Vehicles Through Differentiable Physics
Burak M. Gonultas,Pratik Mukherjee,O. Goktug Poyrazoglu,Volkan Isler,Burak M. Gonultas,Pratik Mukherjee,O. Goktug Poyrazoglu,Volkan Isler
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises naturally for on-road and off-road vehicles that require reliable system identification and basic feedback controllers for various applications such as lane keeping and way-point navigation. Traditional system identification r...
