Paper
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.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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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KEYWORDS
Quantization

Error analysis

Computer simulations

Actuators

Mobile robots

Performance modeling

Computing systems

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