Predictive Washout Filter Design Using the Forward Kinematics and a Kalman Filter

The simulators are often used to simulate the motion trajectories of vehicles and to provide the driving experience to the human operators without actual vehicle driving. Owing to the limited workspace of the typical motion platform, the washout filter is necessary to convert vehicle motion to limit...

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Bibliographic Details
Main Authors: Sung-Hua Chen, Li-Chen Fu
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Electronic mail
Human perception
Humans
Kalman filter
Kinematics
Low pass filters
Motion control
Predictive models
Simulators
Trajectory
Vehicle driving
Virtual reality
Washout filter
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Description
Summary:The simulators are often used to simulate the motion trajectories of vehicles and to provide the driving experience to the human operators without actual vehicle driving. Owing to the limited workspace of the typical motion platform, the washout filter is necessary to convert vehicle motion to limited motion while still maintaining sufficiently accurate human perception. To successfully perform the specified motion under such limited condition requires efficient workspace such that collision with hardware limit during the motion can be prevented. In this paper, we present a predictive washout filter based on the classical one plus a compensation term. The Kalman filter prediction approach is used to modify the simulator trajectory produced from the classical washout filter by moving the simulator properly in the workspace in a senseless manner. The simulator can show the same motion for operator in smaller workspace by this approach. In other words, more exciting motion can be performed in the same workspace.
ISSN:1085-1992
2576-3210
DOI:10.1109/CCA.2007.4389267