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idsc-frazzoli / retina

interfaces and algorithms for event based cameras, lidars, and actuators

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[SP] Anti-lock braking system

datahaki opened this issue · comments

commented

Background

In the current emergency stop logic, the brake locks the rear wheels until the gokart stops. That means the gokart skids and steering is impeded during the deceleration.

Task description

  • Instead of holding the brake piston at maximum position during the emergency stop manoeuvre, the logic can detect the locking of the tires and alter the brake piston position to prevent permanent skidding.
  • Investigate the braking distance of the new braking logic

Purpose

  • Emergency measures that require rapid deceleration may benefit from the capability of steering

Related material

Visualization of the braking with locked tires from initial speed of 6[m/s]:
braking