Constrained Motion Cueing for Driving Simulators Using a Real-Time Nonlinear MPC Scheme

Alexander Lamprecht; Jens Haecker; Knut Graichen

IROS 2018poster9 citations

Constrained Motion Cueing for Driving Simulators Using a Real-Time Nonlinear MPC Scheme

Alexander Lamprecht, Jens Haecker, Knut Graichen

Abstract

This contribution presents a motion cueing algorithm (MCA) for driving simulators using nonlinear model predictive control (MPC). The goal of the MCA is to generate a realistic motion feeling while keeping the simulator within its workspace limits. The approach relies on a realtime gradient algorithm in combination with the augmented Lagrangian method in order to directly incorporate the system constraints into the optimization. Simulation results for a reference trajectory with typical driving situations demonstrate the performance as well as the computational efficiency of the approach.

BibTeX

@inproceedings{iros2018_constrainedmotio,
  title = {Constrained Motion Cueing for Driving Simulators Using a Real-Time Nonlinear MPC Scheme},
  author = {Alexander Lamprecht and Jens Haecker and Knut Graichen},
  booktitle = {IROS 2018},
  year = {2018}
}