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Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle

Bünte, Tilman and Brembeck, Jonathan and Ho, Lok Man (2011) Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle. 2011 IEEE Intelligent Vehicles Symposium (IV), 5.-9. Jun. 2011, Baden-Baden, Deutschland.

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Abstract

A vehicle dynamics human machine interface (HMI) concept for the operation of a highly maneuverable vehicle is presented. This is motivated by the research vehicle ROMO, which is being developed by the German Aerospace Center (DLR) to facilitate research on a wide spectrum of scientific questions dealing with electric and autonomous mobility. With four wheel individual large range steering and electric wheel hub motors, the vehicle dynamics variables of yaw rate, side slip angle and vehicle velocity can be decoupled, thus opening new motion possibilities. The HMI approach includes distinction of various motion operating modes, suitable reference motion parameterization and adequate filtering of the operator’s inputs, both depending on the operating mode. For rotating on the spot the instantaneous center of rotation may be interactively set by the operator on a touch screen.

Document Type:Conference or Workshop Item (Speech)
Title:Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle
Authors:
AuthorsInstitution or Email of Authors
Bünte, TilmanTilman.Buente@dlr.de
Brembeck, JonathanJonathan.Brembeck@dlr.de
Ho, Lok ManLok.Ho@dlr.de
Date:June 2011
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Human Machine Interface (HMI), Vehicle Dynamics Control, Instantaneous Center of Rotation (ICR), Touch Screen
Event Title:2011 IEEE Intelligent Vehicles Symposium (IV)
Event Location:Baden-Baden, Deutschland
Event Type:international Conference
Event Dates:5.-9. Jun. 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben Intelligente Mobilitä (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Dr.-Ing. Tilman Bünte
Deposited On:14 Sep 2011 15:19
Last Modified:30 Jan 2012 11:27

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