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    Motion Cueing Algorithms: A Review Algorithms, Evaluation and Tuning

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    Miguel Aguilar
    Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, highlevel control strategies commonly referred to as motion cueing algorithms (MCA) are required to convert the simulated vehicle physical state into actual motion for the motion platform. This paper reviews the most important strategies for the generation of motion cues in simulators, listing the advantages and

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    Motion Cueing Algorithms: A Review Algorithms, Evaluation and Tuning

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    Miguel Aguilar
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    Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, highlevel control strategies commonly referred to as motion cueing algorithms (MCA) are required to convert the simulated vehicle physical state into actual motion for the motion platform. This paper reviews the most important strategies for the generation of motion cues in simulators, listing the advantages and

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    Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, highlevel control strategies commonly referred to as motion cueing algorithms (MCA) are required to convert the simulated vehicle physical state into actual motion for the motion platform. This paper reviews the most important strategies for the generation of motion cues in simulators, listing the advantages and

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    53 views5 pages

    Motion Cueing Algorithms: A Review Algorithms, Evaluation and Tuning

    Uploaded by

    Miguel Aguilar
    Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, highlevel control strategies commonly referred to as motion cueing algorithms (MCA) are required to convert the simulated vehicle physical state into actual motion for the motion platform. This paper reviews the most important strategies for the generation of motion cues in simulators, listing the advantages and

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    © All Rights Reserved
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    Motion Cueing Algorithms: A Review Algorithms, Evaluation and


    Tuning

    Article · October 2016


    DOI: 10.4018/IJVAR.2017010107

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    International Journal of Virtual and Augmented Reality
    Volume 1 • Issue 1 • January-June 2017

    Motion Cueing Algorithms: A Review


    Algorithms, Evaluation and Tuning
    Sergio Casas, University of Valencia, Valencia, Spain
    Ricardo Olanda, University of Valencia, Valencia, Spain
    Nilanjan Dey, Techno India College of Technology, West Bengal, India

    ABSTRACT

    Robotic motion platforms are commonly used in motion-based vehicle simulation. However, the
    reproduction of realistic accelerations within a reduced workspace is a major challenge. Thus, high-
    level control strategies commonly referred to as motion cueing algorithms (MCA) are required to
    convert the simulated vehicle physical state into actual motion for the motion platform. This paper
    reviews the most important strategies for the generation of motion cues in simulators, listing the
    advantages and drawbacks of the different solutions. The motion cueing problem, a general scheme and
    the four most common approaches – classical washout, adaptive washout, optimal control and model
    predictive control – are presented. The existing surveys of the state-of-the-art on motion cueing are
    usually limited to list the MCA or to a particular vehicle application. In this work, a comprehensive
    vehicle-agnostic review is presented. Moreover, evaluation and tuning of MCA are also considered,
    classifying the different methods, and providing examples of each class.

    Keywords
    Algorithm, Evaluation, Motion Cueing, Review, Tuning, Vehicle Simulation, Virtual Reality

    INTRODUCTION

    Brief History
    Modern vehicle simulation history dates back to the era of the World Wars, when massive pilot training
    started to be a necessity. Link Trainer (Page, 2000) was one of the first electro-mechanic vehicle
    simulators of all time. It was created in 1927 by simulation pioneer Edwin A. Link. This simulator
    was used for around 20 years and about 500.000 allied air force pilots were trained using Link Trainer
    (Allerton, 2009). Unfortunately, Link’s device did not correctly simulate the forces experienced in
    flight. Therefore, most of the simulators designed in the early years of the post Second World War
    era were ground-fixed. Boeing 377 Stratocruiser, manufactured in 1947 for Pan American Airways
    (SimUser, 2016), was the first commercial airliner simulator. However, it had several drawbacks as
    it did not move and had no visual system. Afterward, video-based visual systems (prerecorded or
    mockup-based) were developed and used until digital computers allowed creating synthetic images in
    the 1970s. Nevertheless, realistic visual systems were not designed until the 1990s. Due to the difficulty
    of generating motion cues, motion-based simulators were not seriously considered until late 1950s or
    early 1960s, when the necessity of solving this problem was finally established. Comet IV simulator
    (Royal-Aeronautical-Society, 1979) was developed in 1958, allowing only pitch motion – 1 degree
    of freedom (DoF). Later, the 6-DoF Stewart-Gough design (Stewart, 1965) was proposed and was

    DOI: 10.4018/IJVAR.2017010107

    Copyright © 2017, IGI Global. Copying or distributing in print or electronic forms without written permission of IGI Global is prohibited.

    90
    International Journal of Virtual and Augmented Reality
    Volume 1 • Issue 1 • January-June 2017

    gradually adopted in vehicle simulators. Thus, the problem of finding suitable algorithms for motion-
    based vehicle simulators was raised. In the following years, costs reduction and the microprocessor
    era, allowed motion-based vehicle simulation to be available for the automotive industry (Slob, 2008)
    and other areas. Nowadays, motion-based systems are used for all kinds of vehicles other than aircraft
    (Nehaoua, Arioui, Espie, & Mohellebi, 2006), (Avizzano, Barbagli, & Bergamasco, 2000), (Casas,
    Rueda, Riera, & Fernández, 2012) and applications, even in entertainment and gaming.

    Problem Description
    Several elements are required for the generation of motion cues in vehicle simulators, including: a
    physics model, a motion platform, and a motion cueing algorithm. The physics model is responsible
    for the vehicle dynamics calculation through reading the operator (pilot/driver) actions on the vehicle
    controls. It calculates the simulated physical state of the vehicle by solving the differential equations
    of motion (Witkin & Baraff, 1997). This physical state is (partially) reproduced on the operator’s
    position in the simulator by moving a motion platform usually placed under the vehicle operator’s
    seat. To perform this operation, high level control strategies commonly referred to as motion cueing
    algorithms (MCA) are necessary to convert the simulated physical state into actual motion for the
    motion platform, whenever possible. The process is summarized in Figure 1.

    Figure 1. Motion cueing generation in vehicle simulators

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