DESIGN AND IMPLEMENTATION OF CAR MOTION CONTROL FOR GAME AND SIMULATION
Visual computing has developed fastly and with more competition in the industry has chalenged many developers to make a good application in simulating real world system. For that reason, many has approach to solve car motion problem in game and simulation with control and robotic field. <br />...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/16449 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Visual computing has developed fastly and with more competition in the industry has chalenged many developers to make a good application in simulating real world system. For that reason, many has approach to solve car motion problem in game and simulation with control and robotic field. <br />
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Car like robot motion problem is not simple task to solve due to its native nonholonomic, nonlinier and multi input multi output (MIMO) system. The aim of this final project is to design a simple but effective path sensing system and <br />
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controler for car automation. This research is focused at pathfollowing task and will not discuss other motion task such as point to point motion and trajectory tracking. <br />
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The idea is to split the car model into two system that is single input single output (SISO). The systems represent lateral system and velocity system. With this approach, the system is more simple and design process and analysis will be easier to do. We can see the system as common second order system which is easy to be analyzed. <br />
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In designing the controllers, simulation had been done with MATLAB SIMULINK. The controller implementation into game application analyzed by comparing between the output of simulation with SIMULINK and the output from the game application. Path following analyzed by measuring the gap between car and the path while in runtime. The result of this research shows that path following task is having small path following error and the controllers are stable. <br />
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For the navigation system, this final project is using navigation mesh which is newer and known to be better than waypoint system that common in classical game application. |
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