Výsledky vyhledávání - "Dallas, James"

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A hierarchical adaptive nonlinear model predictive control approach for maximizing tire force usage in autonomous vehicles

Autor: Dallas, James, Thompson, Michael, Goh, Jonathan Y. M., Balachandran, Avinash

Publikováno v: Field Robotics, 3, 222-242 (2023)

The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending with tire

Externí odkaz: http://arxiv.org/abs/2304.12263

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Neural network based terramechanics modeling and estimation for deformable terrains

Autor: Dallas, James, Cole, Michael P., Jayakumar, Paramsothy, Ersal, Tulga

In this work, a neural network based terramechanics model and terrain estimator are presented with an outlook for optimal control applications such as model predictive control. Recognizing the limitations of the state-of-the-art terramechanics models

Externí odkaz: http://arxiv.org/abs/2003.02635

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Online terrain estimation for autonomous vehicles on deformable terrains

Autor: Dallas, James, Jain, Kshitij, Dong, Zheng, Cole, Michael P., Jayakumar, Paramsothy, Ersal, Tulga

In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on computatio

Externí odkaz: http://arxiv.org/abs/1908.00130

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