Versatile Trajectory Optimization Using a LCP Wheel Model for Dynamic Vehicle Maneuvers
Guillaume Bellegarda,Katie Byl,Guillaume Bellegarda,Katie Byl
Car models have been extensively studied at varying levels of abstraction, and planning and executing motions under ideal conditions is well researched and understood. For more aggressive maneuvers, for example when drifting or skidding, empirical and/or discontinuous friction models have been used to explain and approximate real world contact behavior. Separately, contact dynamics have been exten...
