Simulation, integration and explanation of the odometric model for the purpose of the numerical analysis

Simulation, intégration et explication du modèle odométrique à des fins d'analyse dite numérique

Edern Ollivier (1)

1 IEEE - Institute of Electrical and Electronics Engineers

The odometric model is simulated herein. We described the trajectory of such one odometric model, with the delta of the heading angle given as one parameter of the simulation. The iterations show that the trajectory is well in the continuity of the variations of the heading angle. Moreover the distance in X and in Y are shown for the vehicle to be driven in the trajectory of the odometric model. Next is the step of the integration of the equations in the frame of the controls of a vehicle without the equations of it because it has been done previously with respect to the equations of Lagrange, but with the input and the command vectorization, as well known and probably once designed by a Chinese team of researchers. Then, it will be the explanation to be given, for having a benchmark of trajectory under the control of a vector of input command.

Le modèle odométrique est simulé dans ce document. Je décris ici ses trajectoires et ses paramètres à toutes fins utiles. La boucle de programmation a montré qu'il y a continuité dans les trajectoires, en fonction de la variation d'angle au volant. De plus les distances sont montrées sur la trajectoire du modèle odométrique. Il y a une singularité qui a été passée.

Mots clés: Odometric navigation; Evolution of such a trajectory; Odometric model; numerical analysis; non-linear model; non-linear analysis; Intelligent vehicle; Discretisation schemes; Transportation; Trajectory analysis; Continuity of the odometric model

Domaines: Automatique; Analyse numérique [math.NA]

Edern Ollivier. Simulation, integration and explanation of the odometric model for the purpose of the numerical analysis: A pool of trajectories for the engineers of the automation of the fair and automated vehicle. 2019. ⟨hal-02162501v10⟩