- Gazebo Simulation
- Modified based on MIT racecar simulator.
- Modeled Gazebo world based on our lab space
- Detached racecar package from using simulator
- Modified package contents to work with our ROS setup
- Created launch file for integrating simulation with other subsystems
- Drifting Dynamic Model
- Modeled with Matlab & Simulink
- Code on our github
- Tire dynamics and vehicle dynamics models were based on Dynamics and Control of Drifting in Automobiles, Hindiyeh, 2013
- Used wheel speed approach to derive longitude and lateral tire forces
- Removed simplifications based on assumption of small sliding angle for accuracy
- Modified model using different state variables to avoid division by zero
- Used [β, r, U] instead of [β, r, Ux]
- ROS – Simulink communication for validation of correspondence between simulation and real robot
- Animation function ported from here
