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Future reference prediction in model predictive control based driving simulators

conference contribution
posted on 2016-12-01, 00:00 authored by Arash Mohammadi, Houshyar AsadiHoushyar Asadi, Shady MohamedShady Mohamed, Kyle Nelson, Saeid Nahavandi
The goal of a driving simulator is to produce an environment for a driver similar to the real driving scenario. Motion cueing algorithms are used to produce a realistic motion while respecting the workspace limitations and motion simulator boundaries. Model Predictive Control has become popular recently for motion cueing. However, in this control method, the optimization is based on a predefined constant future input trajectory while it is not a practical assumption. In this research, a method is proposed to predict the future reference based on the finite history of input. This method does not require the position trajectory to follow a specific road. Simulation results show the effectiveness of the proposed model predictive control method in terms of realistic motion sensation for a driver.

History

Event

Australian Conference on Robotics and Automation (2016 : Brisbane, Qld.)

Publisher

Australian Robotics and Automation Association

Location

Brisbane, Qld.

Place of publication

Brisbane, Qld.

Start date

2016-12-05

End date

2016-12-06

Language

eng

Publication classification

E Conference publication; E1 Full written paper - refereed

Copyright notice

2016, ACRA

Title of proceedings

ACRA 2016 : Proceedings of the ARAA Australian Conference on Robotics and Automation

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