Simulation of arbiter and actuator properties and discussion of their effects upon vehicle trajectory tracking

Peter H. Argo

doi:10.1117/12.167499

1 February 1994 Simulation of arbiter and actuator properties and discussion of their effects upon vehicle trajectory tracking

Peter H. Argo

Author Affiliations +

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167499
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper provides a simulation-based understanding of the effects of three physical system properties upon ground vehicle tracking performance: (1) command quantization, (2) command data latency, and (3) actuation bandwidth. The proposed metric for evaluating effects of these properties was integrated absolute lateral error (IAE). Under this metric, system tracking performance was optimized by (1) minimizing the data latency, (2) maximizing the actuation bandwidth, and (3) minimizing the command quantization, in that order. This work drew upon existing work (using a simple simulation model) with the intent of providing guidance for future efforts.

Citation Download Citation

Peter H. Argo "Simulation of arbiter and actuator properties and discussion of their effects upon vehicle trajectory tracking", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167499

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