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MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions
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Novel model predictive control-based motion cueing algorithm for compensating centrifugal acceleration in KUKA

Duc-An Pham1, Trung Nghia Pham1, Duc-Toan Nguyen1

  • 1School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi City, Vietnam.

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|October 3, 2023
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Summary
This summary is machine-generated.

A new washout motion cueing algorithm (MCA) for KUKA Robocoaster driving simulators uses circular motion to accurately simulate lateral movement. This model predictive control (MPC) approach minimizes false motion cues for enhanced driver immersion.

Keywords:
CARLAKUKA robocoasterMotion cueing algorithmdriving simulatormodel predictive control

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Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Automotive Engineering

Background:

  • Motion cueing algorithms (MCAs) are essential for realistic driving simulations, aiming to reproduce motion cues accurately.
  • Traditional MCAs are often designed for specific platforms like the Stewart platform.
  • The KUKA Robocoaster offers an economical alternative for driving simulators but requires specialized trajectory conversion.

Purpose of the Study:

  • To develop a novel motion cueing algorithm (MCA) tailored for KUKA Robocoaster-based driving simulators.
  • To enhance motion sensation accuracy and optimize workspace utilization in KUKA Robocoaster simulators.
  • To address the challenges of simulating lateral movement using circular motion and mitigating centrifugal forces.

Main Methods:

  • Implementation of a novel model predictive control (MPC) based MCA for the KUKA Robocoaster platform.
  • Utilizing large planar circular motion to simulate lateral driver movement.
  • Employing pitch-tilted angles to counteract disruptive centrifugal forces and maintain controlled angular velocities.

Main Results:

  • The proposed MPC successfully generates simulated motion that accurately tracks lateral specific force targets.
  • Roll and pitch angular velocities were maintained below their respective threshold values.
  • Simulation results demonstrated the elimination of false motion cues in roll/sway and pitch/surge channels during lateral acceleration tasks.

Conclusions:

  • The novel MPC-based MCA effectively leverages the KUKA Robocoaster platform's capabilities for driving simulation.
  • This approach provides accurate and immersive motion cues, overcoming limitations of previous MCAs.
  • The research offers an original solution for motion cueing in KUKA Robocoaster simulators, improving simulation fidelity.