The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Motion and Image Matching Algorithms and Implementation for Motion Synchronization in a Vehicle Driving Simulator

차량 운전 시뮬레이터에서 모션과 영상의 동기화를 위한 알고리즘 및 구현 방안

  • Kim, Hun-Se (Dept. of Mechanical Design and Robot Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Dae-Seop (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Dong Hwan (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • Received : 2017.01.11
  • Accepted : 2017.04.01
  • Published : 2017.05.31
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Abstract

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

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References

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