Experimental Validation of a Kinematic Bicycle Model Predictive Control with Lateral Acceleration Consideration
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.08.085
Abstract: Abstract Nowadays, Automated Driving has a growing interest in the scientific and industrial automotive community. The vehicle motion planning is an essential procedure to obtain safe and comfortable trajectories, adapting the longitudinal speed to the… read more here.
Keywords: model predictive; kinematic bicycle; control; acceleration ... See more keywords
Optimal Control for Kinematic Bicycle Model With Continuous-Time Safety Guarantees: A Sequential Second-Order Cone Programming Approach
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3204903
Abstract: The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model, necessary… read more here.
Keywords: bicycle model; safety; control; kinematic bicycle ... See more keywords
A path planner enabling second-order continuity across multiple motion modes of the generalized bicycle model
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/17298806241277195
Abstract: In mobile robotics, the generalized bicycle model is notable for its agility and diverse motion capabilities. However, current path planning methods often overlook its potential for multiple motion modes, leading to impractical paths and collision… read more here.
Keywords: model; bicycle model; generalized bicycle; motion ... See more keywords