5. Vehicle dynamics and overall chassis control

In the previous sections, we explained the basic operation of an unguided ground vehicle. To do this, we justified and established a kinematic model comprising 4 degrees of freedom: yaw-derive-roll. In particular, we have outlined the advantages and limitations of this model. We then derived the equations of dynamics which gave us, on the one hand, the equations of yaw-drift motion and, on the other hand, those of decoupled roll motion, taking care to explain the framework in which these equations are used.

Thanks to computer technology and the development of increasingly powerful computing resources, the equations obtained from these and other more complex models can be used to simulate vehicle operation. The result is an incessant to-and-fro between simulation and experimentation, with measurements feeding into the models, and the models refining the measurements....