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Proceedings Paper

Simulation of arbiter and actuator properties and discussion of their effects upon vehicle trajectory tracking
Author(s): Peter H. Argo
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Paper 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.

Paper Details

Date Published: 1 February 1994
PDF: 6 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167499
Show Author Affiliations
Peter H. Argo, Martin Marietta Corp. (United States)

Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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