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joeyzhu00 / ME-231A-Project

UC Berkeley ME 231A Project
MIT License
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Bicycle Dynamic Model #1

Closed joeyzhu00 closed 4 years ago

joeyzhu00 commented 4 years ago

Incorporate a dynamic model into the state feedback. For now, the MPC will use the kinematic bicycle model (will be changed later).

joeyzhu00 commented 4 years ago

Dynamic Model

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Kong, J., Pfeiffer, M., Schildbach, G., & Borrelli, F. (2015). Kinematic and dynamic vehicle models for autonomous driving control design. 2015 IEEE Intelligent Vehicles Symposium (IV). doi: 10.1109/ivs.2015.7225830

Slip Angle Calculation image image

Milliken, W. F., & Milliken, D. L. (1995). Race car vehicle dynamics. Warrendale, PA: Society of Automotive Engineers.

joeyzhu00 commented 4 years ago

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Palmqvist, M. I. (2016). Model predictive control for autonomous driving of a truck. KTH Royal Institute of Technology School of Electrical Engineering.

joeyzhu00 commented 4 years ago

Manish to incorporate the four-wheel model specified in "Model Predictive Control For Autonomous Driving of a Truck".

joeyzhu00 commented 4 years ago

Dynamic Model MPC_DynamicModel_Feedback MPC_DynamicModel_Feedback_Inputs

Kinematic Model MPC_Kinematic_Feedback MPC_Kinematic_Feedback_Inputs