{"id":284,"date":"2016-11-18T18:37:15","date_gmt":"2016-11-18T23:07:15","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/?page_id=284"},"modified":"2017-05-12T18:53:09","modified_gmt":"2017-05-12T23:23:09","slug":"simulation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/implementation\/simulation\/","title":{"rendered":"Simulation"},"content":{"rendered":"<ul>\n<li>Gazebo Simulation\n<ul>\n<li>Modified based on MIT racecar simulator.\n<ul>\n<li>Modeled Gazebo world based on our lab space<\/li>\n<li>Detached racecar package from using simulator<\/li>\n<li>Modified package contents\u00a0to work with our ROS setup<\/li>\n<li>Created launch file for integrating simulation with other subsystems<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<ul>\n<li>Drifting Dynamic Model\n<ul>\n<li>Modeled with Matlab &amp; Simulink<\/li>\n<li><a href=\"https:\/\/github.com\/mrsd16teamd\/loco_simulation\">Code on our github<\/a><\/li>\n<li>Tire dynamics and vehicle dynamics models were based on <em>Dynamics\u00a0and Control of Drifting in Automobiles,\u00a0<\/em>Hindiyeh, 2013\n<ul>\n<li>Used wheel speed approach to derive longitude and lateral tire forces<\/li>\n<li>Removed simplifications based on assumption of small sliding angle for accuracy<\/li>\n<li>Modified model using different state variables to avoid division by zero\n<ul>\n<li>Used [\u03b2, r, U] instead of\u00a0 [\u03b2, r, Ux]<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>ROS &#8211; Simulink communication for validation of correspondence between simulation and real robot<\/li>\n<li>Animation function ported from <a href=\"https:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/54852-simple-2d-kinematic-vehicle-steering-model-and-animation\">here<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-338\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-content\/uploads\/sites\/15\/2016\/11\/ezgif.com-gif-maker.gif\" alt=\"ezgif-com-gif-maker\" width=\"434\" height=\"393\" \/><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>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\u00a0to work with our ROS setup Created launch file for integrating simulation with other subsystems Drifting Dynamic Model Modeled with Matlab &amp; Simulink Code on our github Tire dynamics and vehicle&hellip;&nbsp;<a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/implementation\/simulation\/\" rel=\"bookmark\"><span class=\"screen-reader-text\">Simulation<\/span><\/a><\/p>\n","protected":false},"author":54,"featured_media":0,"parent":26,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"neve_meta_sidebar":"","neve_meta_container":"","neve_meta_enable_content_width":"","neve_meta_content_width":0,"neve_meta_title_alignment":"","neve_meta_author_avatar":"","neve_post_elements_order":"","neve_meta_disable_header":"","neve_meta_disable_footer":"","neve_meta_disable_title":"","footnotes":""},"class_list":["post-284","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/284","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/users\/54"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/comments?post=284"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/284\/revisions"}],"predecessor-version":[{"id":549,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/284\/revisions\/549"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/pages\/26"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2016teamd\/wp-json\/wp\/v2\/media?parent=284"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}