CAR TUNING

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The positional co-
ordinates of the nodes are the midpoints on the edges of
the Cntl-Rdmp, and their orientations are directed along the
edges, so as to align them with the roadway.

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We next construct an approximate roadmap from the
Cntl-Rdmp. Intuitively, we will use the Cntl-Rdmp to help
us compose (rather than randomly generate) nodes in the
¼¾ µ
car-like robot’s Ê¾ ¢
C-space.

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roadmap with curvature larger than ÖÑ Ò . After that, we
use Dijkstra’s algorithm to ﬁnd the shortest path between
the start and the goal. The path will consist of a sequence of
nodes from the roadmap. Note that such a path could pos-
sibly contain several cusps, which indicate transitions be-
tween forward and backward movements of the car. From
the perspective of the control roadmap, the path is deter-
mined by a sequence of control points. After we have a
path, we must validate it with ﬁner resolution collision tests
since the validity of the edges has not been veriﬁed before.

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Now assume we want to ﬁnd a path from a start point to
a goal point for a car-like robot which has minimum turn-
ing radius ÖÑ Ò . To do this, we ﬁrst connect the start and
the goal to the roadmap, and then remove all edges from the
½

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The roadmap can then be used to answer different
queries. Notice that so far we have not mentioned the mini-
mum turning radius of a speciﬁc car-like robot: the roadmap
construction is not dependent on it.

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In the following, we will show that for a given con-
trol polygon, arcs always perform better than quadratic B-
splines in terms of obtaining smaller maximum curvature.
The other option is cubic B-splines, which naturally provide
continuous curvature if the path happens also to be collision
free. We will show a heuristic that can be used to ﬁnd better
knot sequences that minimize the maximum curvature along
the path.

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A natural question that arises is whether it is possible
to ﬁnd a better path, with fewer discontinuities in the curva-
ture, using the guidance of these control points (or polygon).
More precisely, we ﬁrst partition the path at any cusps, into
forward and reverse segments, and process each segment
separately. Actually, it is convenient to reverse the state-
ment and ask a more general question: given this control
polygon, is it possible to get a collision free path with better
curvature (by better, we mean bigger and/or more continu-
ous curvature)?

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The path created above is made up of arcs and line seg-
ments. An unpleasant feature of this is that since the curva-
ture is not continuous along the path, the robot has to make
a complete stop each time it meets a curvature discontinuity.
Since each roadmap node along the path corresponds to an
edge in the control roadmap, it is a simple matter to retrieve
all the control points along the path.

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), and then connects them using an RTR
path local planning method. An RTR path is deﬁned as the
concatenation of a rotational path, a translational path, and
another rotational path [26]. An alternative is to use a local
planner that constructs the shortest path connecting the two
conﬁgurations as was done in [18, 24].

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table exception is the work of Svestka and Overmars on
car-like and tractor-trailer robots using their PPP (Prob-
abilistic Path Planning) algorithm, see [9] and references
therein. Their method ﬁrst generates conﬁgurations in C-
¼¾
space (Ê¾ ¢

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Much research has been done on motion planning for
nonholonomic car-like robots (see [9] for a review). While
much of this work has used randomized methods, most of
it has utilized potential ﬁeld methods (e.g. [6, 13]) as op-
posed to the increasingly popular PRM technique. A no-
ˇ

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. Ion şi Maria, seara tîrziu, stau la poartă singuri. Enervată că întîrzie fie-sa, mama Mariei iese în prispa casei şi strigă:
- Mărie, mai lasă-l pe Ion odată şi intră în casă!
Maria răspunde:
- Bine, mamă, stai că-l mai las o dată şi vin.

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Best Car Tuning information with articles

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Dodge Challenger SRT8 by GeigerCars in Essen

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As German as GeigerCars is, they know a thing or two about tuning American cars. No surprises then, as the company shows off its latest best from the west creation, a Dodge Challenger-based muscle car using the HEMI V8 to power itself. It's the SRT 8's soul that it comes with, that 6.1-litre V8 which produces 425hp/ 317kW off the showroom floor.

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Tuning BMW: Suspension Modifications

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Another important area for any BMW tuning enthusiast to consider is to modify the stock suspension. Suspension plays a big role in the performance of your vehicle. If you drive at fast speeds or want impeccable control of your vehicle one way to ensure top performance is with struts, shocks, damper kits, special bars, etc. Suspension modifications will assist drivers in steering and control- even at high speeds.

Wheels are also extremely important.

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For BMW enthusiasts that install light weight rims (wheels) on your vehicle, you can not only achieve lightening the load of your vehicle, but also add great styling. It should be noted that one of the best ways to customize your vehicle is simply with new rims. New rims instantly increase your car’s attractiveness and uniqueness.

Car modification & car styling

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Track cars are rebuilt each time they are raced and they are set up for optimum conditions on the flat surface of the track. When it comes to modifying a daily runaround car or hot hatch - we have to tune and apply modifications to our cars to work for a year without a service, run over pot holes and speed humps and cope with a variety of weather conditions and loads.

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How to Tune a Car

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Belts & Hoses
Other items that you should visibly check are the belts and hoses. Belts and hoses should be visibly checked every couple of weeks, especially if you are noticing a reduction in performance. Make sure all belts and hoses are secured tightly and that there are no cracks or nicks visible. If the rubber looks faded or looks like it is developing a crack or split replace it.

Tires
Tires are essential to high performance and safety. When checking tires, not only check the tread, but also if it is properly inflated. You can look in your manual to make sure you inflate all tires to their proper PSI (pounds per square inch). Never over-inflate or under-inflate your tires.

For those that are looking to tune up their cars, you can’t do as much as you used to the older cars, but you can still ensure the best performance and safety. If you have any specific questions about your vehicle, always talk to a licensed mechanic or your dealership.

How to Tune a Car

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A car is incredibly important and many car owners count on their car to constantly perform well, offer safety for their family and be consistently reliable. While cars have changed drastically with the many new technologies that have been introduced in the last 20 years, you can still tune your car to a certain degree to ensure that it will continue to perform. Here are some of the things to consider when tuning your car.

Tools Needed
Unless you are car enthusiast, you probably won’t have any need for tools other than the basic screwdriver, wrench and the car’s owner manual. For many of the new cars, you are not required to tune it for at least 100,000 miles- and even then, it is encouraged that you bring it into a reputable service station. However, for the basic car owner and even the car enthusiast, you can usually do a lot with a couple of tools and the car’s manual. While all vehicles have different specs, generally speaking, if you are planning on tuning a car, you will want to tackle the following: oil change, air filter, belts & hoses & tires.

Oil Change
While most people these days take their car for a 15 minute oil change, you can do yours in about the same time for about half the cost. Just make sure to get the right size oil filter and the right grade of motor oil. You will also want to have on hand all the tools necessary to not only change the oil, but dispose of it properly.

Air Filter
The air filter can also be easy to change. You might have to search around the vehicle and use a screwdriver or wrench to get at it. But once you pull it out, take a look at it and make sure it is clean. If not, replace it. The color of the air filter can be slightly faded, but if it has black stains and spots- ditch it.

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AUDIO

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Disconnecting and reconnecting your battery

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If you're going to do any work on your car involving the electrical system, disconnect the battery first. To do this, loosen the connector for the negative/ground terminal first, and wiggle the terminal cap off. Use a wire-tie or similar to tie the cable back out of the way. If you need to take the battery out, you can now take off the positive connector.
Why negative then positive? If you disconnect the positive side of the battery first, the negative side is still connected to the entire car. If you drop a tool and it lands on the positive battery terminal and touches anything else on the car, you'll have an electrical short. By disconnecting the negative first, you're cutting off the return path for the current. Now, if a tool drops on to either of the battery terminals, it doesn't matter if it touches part of the chassis or not - there's no continuous path for the electrical current.
Reconnecting your battery. Connect the positive terminal first, and the negative second - the reverse of removal, and for the same reasons. When you slip the negative connector on, there will be a spark as it gets close and makes contact with the negative battery terminal. Don't be afraid of this - it's nothing to worry about. Make sure the terminal caps are done up nice and tight.

Check your battery terminals

Most modern cars run on a 12 volt negative ground electrical system. If your battery terminals or contacts aren't clean, you're making it more difficult for the current to pass around the electrical system. Remove the terminal caps as described above and clean each contact post with a wire brush to get a nice clean metal contact surface. Do the same to the terminal caps, then reattach them as described above.

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D
A
C
I
A

Car Maintenance

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Throughout the rest of this website you'll find in-depth articles describing in intricate detail how everything automotive works. On this page, I've simplified all that knowledge into a series of basic car maintenance tips, subdivided by category. Some tips have simple explanations right here whilst others link back to the articles in the rest of the site. If you can't find what you're looking for, try the search button at the end of the top menu. If you still can't find what you're looking for, or have a suggestion for something else I should cover, contact me using the contact button on the top menu bar.