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.
Item URL in elib: | https://elib.dlr.de/70615/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
Title: | Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle | ||||||||||||
Authors: |
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Date: | June 2011 | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||||||
Deposited By: | Bünte, Dr.-Ing. Tilman | ||||||||||||
Deposited On: | 14 Sep 2011 15:19 | ||||||||||||
Last Modified: | 30 Jan 2012 11:27 |
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