Motion planning of drifting vehicle with friction model considering nonholonomic constraint

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


Conventional motion planners for wheeled vehicles often assume no-slipping and no-skidding conditions and construct motion trajectories in the context of nonholonomic motion planning. However, in some practical situations slipping and skidding cannot be ignored or can even be useful. To take them into account in the construction of planning algorithms, it is important to model the friction force between the tire and the contact plane. In this paper, we first construct a model of the friction force as an extension of the two-dimensional Coulomb model, considering both the slipping conditions and the nonholonomic constraints. Next, we formulate the motion planning problem as a drift parking problem and propose a motion planning strategy combining the nonholonomic planner and the control in the slipping mode. The feasibility and the performance of the proposed strategy are tested under simulation.

Original languageEnglish
Article number7139248
Pages (from-to)650-655
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue numberJune
Publication statusPublished - Jan 1 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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