We present a general approach to model the motion of a rigid body ground vehicle on a smooth nonplanar road surface. We generalise planar control-oriented models while preserving standard model states, inputs and outputs. We derive our approach from first principles, apply it to existing vehicle modelling approaches and test it through real-world experiments. We demonstrate that our approach improves upon the prediction accuracy of planar models.


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    Title :

    Models for ground vehicle control on nonplanar surfaces


    Contributors:

    Published in:

    Vehicle System Dynamics ; 62 , 4 ; 976-1000


    Publication date :

    2024-04-02


    Size :

    25 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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