Path: utzoo!utgpu!news-server.csri.toronto.edu!cs.utexas.edu!sdd.hp.com!wuarchive!udel!rochester!sol!yamauchi From: yamauchi@cs.rochester.edu (Brian Yamauchi) Newsgroups: comp.robotics Subject: Re: Mathematical Models of Automobile Dynamics Message-ID: Date: 17 Jan 91 20:37:47 GMT References: <50852@cornell.UUCP> Sender: news@cs.rochester.edu (Usenet news) Organization: University of Rochester Lines: 43 In-Reply-To: jennings@svax.cs.cornell.edu's message of 17 Jan 91 18:53:11 GMT In article <50852@cornell.UUCP> jennings@svax.cs.cornell.edu (Jim Jennings) writes: In article yamauchi@cs.rochester.edu (Brian Yamauchi) writes: > >As part of my thesis research in behavior-based robotics, I'm going to >be building a simulated robot control system for freeway driving, and >I'd like to include reasonable assumptions about automobile dynamics >in the simulator. How will you model changing grip due to tread deformation, road surface, tire pressure, sidewall windup, suspension geometry, tire temperature, tire compound, road material, slip rate and angle, etc.? And this is only the tip of the iceberg when it comes to analyzing automobile handling. The goal of this research is not to study automobile handling, but to demonstrate a behavior arbitration algorithm which can deal with large numbers of possibly conflicting sensorimotor constraints. I don't claim this will generate any new insights into the analysis of automobile performance, although I do hope it will provide insights into how to build reactive robots which need to resolve conflicts between behavior agents. If you want to use a behavior-based system (or any other, really) to control a vehicle with nontrivial dynamics, my suggestion is to build a (real) vehicle that can travel at sufficient (scale) speed. This would have been my first choice by far, but, alas, the resources are unavailable. However, this vehicle simulation is only part of my thesis research. I also plan to demonstrate by behavior arbitration algorithm by building a (real) visually-guided dextrous manipulation system (an area in which we do have the robotics/vision hardware). I have a strong personal preference for working with real robots, and I agree that building real systems is the best way to demonstrate robotic algorithms, but sometimes you just don't have an ALV handy... -- _______________________________________________________________________________ Brian Yamauchi University of Rochester yamauchi@cs.rochester.edu Computer Science Department _______________________________________________________________________________