Article | Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016 | Numerical Efficiency of Inverse Simulation Methods applied to a Wheeled Rover Linköping University Electronic Press Conference Proceedings
Göm menyn

Title:
Numerical Efficiency of Inverse Simulation Methods applied to a Wheeled Rover
Author:
Thaleia Flessa: Division of Aerospace Sciences, School of Engineering, University of Glasgow, UK Euan McGookin: Division of Aerospace Sciences, School of Engineering, University of Glasgow, UK Douglas Thomson: Division of Aerospace Sciences, School of Engineering, University of Glasgow, UK Kevin Worrall: Division of Aerospace Sciences, School of Engineering, University of Glasgow, UK
DOI:
10.3384/ecp17142348
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016
Issue:
142
Article no.:
051
Pages:
348-355
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2018-12-19
ISBN:
978-91-7685-399-3
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


Export in BibTex, RIS or text

A control method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required inputs to achieve a desired, specified response; a trajectory in this case. Inverse Simulation considers the complete system dynamics to calculate the control input using an iterative, numerical Newton – Raphson scheme. Two methods for applying Inverse Simulation are presented, one based on a Differentiation scheme and one on Integration. The paper provides an insight into how the scheme formulation and selected parameters affect both methods’ performance when applied to a rover. The selection of system outputs to control, their effect on each scheme’s Jacobian, whether it is square or over-determined and the best method to factorize this Jacobian are investigated. The influence of the discretisation step and the convergence tolerance is also examined using two different sets for both schemes and in conjunction with the type of Jacobian used. The comparison is made in terms of the resulting trajectory, the execution time, and the quality of the calculated control input.

Keywords: inverse, simulation, control, navigation, model based, numerical, wheeled vehicle, rover

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Thaleia Flessa, Euan McGookin, Douglas Thomson, Kevin Worrall
Title:
Numerical Efficiency of Inverse Simulation Methods applied to a Wheeled Rover
DOI:
http://dx.doi.org/10.3384/ecp17142348
References:
No references available

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Thaleia Flessa, Euan McGookin, Douglas Thomson, Kevin Worrall
Title:
Numerical Efficiency of Inverse Simulation Methods applied to a Wheeled Rover
DOI:
https://doi.org10.3384/ecp17142348
Note: the following are taken directly from CrossRef
Citations:
No citations available at the moment


Responsible for this page: Peter Berkesand
Last updated: 2019-10-02