Vehicle Kinematics and Path Following Mangal Kothari Department of - - PowerPoint PPT Presentation

▶

Dec 21, 2022 439 likes •518 views

Vehicle Kinematics and Path Following Mangal Kothari Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur - 208016 Kinematic Mode: Ackerman Steering Explicit steering vehicle model Skid Steering model Path

SLIDE 1

Vehicle Kinematics and Path Following

Mangal Kothari Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur - 208016

SLIDE 2

Kinematic Mode: Ackerman Steering

Explicit steering vehicle model

SLIDE 3

Skid Steering model

SLIDE 4

Path Following Problem

Calculate lateral acceleration

SLIDE 5

Trajectory Generation: Path following

Fixed-wing UAV kinematic model Path following law: pursuit and LOS components

Error dynamics

SLIDE 6

Straight Line following

SLIDE 7