AN OPTIMAL CONTROL SCHEME FOR A DRIVING SIMULATOR

Hatem Elloumi, Marc Bordier, Nadia Mäızi

Abstract

Within the framework of driving simulation, control is a key issue to providing the driver realistic motion cues. Visual stimulus (virtual reality scene) and inertial stimulus (platform motion) induce a self-motion illusion. The challenge is to provide the driver with the sensations he would feel in real car maneuvering. This is an original control problem. Indeed, the first goal is not classical path tracking but fooling the driver awareness. Constrained workspace is the second issue classically addressed by motion cueing algorithms. The purpose of this paper is to extend the works of Telban and Cardullo on the optimal motion cueing algorithm. A nonlinear dynamical model of the robot is brought in. The actuator forces are directly included in the optimal control scheme. Consequently a better (global) optimization and an advanced parametrization of the control are achieved.

References

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Paper Citation


in Harvard Style

Elloumi H., Bordier M. and Mäızi N. (2005). AN OPTIMAL CONTROL SCHEME FOR A DRIVING SIMULATOR . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 40-47. DOI: 10.5220/0001178600400047


in Bibtex Style

@conference{icinco05,
author={Hatem Elloumi and Marc Bordier and Nadia Mäızi},
title={AN OPTIMAL CONTROL SCHEME FOR A DRIVING SIMULATOR},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={40-47},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001178600400047},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AN OPTIMAL CONTROL SCHEME FOR A DRIVING SIMULATOR
SN - 972-8865-30-9
AU - Elloumi H.
AU - Bordier M.
AU - Mäızi N.
PY - 2005
SP - 40
EP - 47
DO - 10.5220/0001178600400047