Autonomous Drifting with 3 Minutes of Data via Learned Tire Models
Franck Djeumou,Jonathan Y.M. Goh,Ufuk Topcu,Avinash Balachandran,Franck Djeumou,Jonathan Y.M. Goh,Ufuk Topcu,Avinash Balachandran
Near the limits of adhesion, the forces generated by a tire are nonlinear and intricately coupled. Efficient and accurate modelling in this region could improve safety, especially in emergency situations where high forces are required. To this end, we propose a novel family of tire force models based on neural ordinary differential equations and a neural-ExpTanh parameterization. These models are ...
