Race-car Circular Drifting with Onboard Sensor Positioning Using Static Anchors

In the field of autonomous driving, drifting control is of great importance for driving safety to deal with extreme situations. In order to better control the unmanned vehicle, it is necessary to have high-precision and high-frequency state information. To obtain state information, onboard sensors has the advantages of a lower cost, convenient deployment, indoor and outdoor versatility, etc. In this paper, we propose an onboard sensor estimation scheme using 2D LiDAR and IMU to support the control of a stable circular drifting task. We implement our method on a 1/10 scale radio control car. It can realize stable drift with a given center and radius, which illustrates the effectiveness of our method. A video of the cars performance can be found at https://www.bilibili.com/video/BV1Fg411z7XH/.