IEICE TRANSACTIONS on Communications
Adaptive Buffering Time Optimization for Path Tracking Control of Unmanned Vehicle by Cloud Server with Digital Twin
Summary :
Autonomous driving technology is expected to be applied to various applications with unmanned vehicles (UVs), such as small delivery vehicles for office supplies and smart wheelchairs. UV remote control by a cloud server (CS) would achieve cost-effective applications with a large number of UVs. In general, dead time in real-time feedback control reduces the control accuracy. On remote path tracking control by the CS, UV control accuracy deteriorates due to transmission delay and jitter through the Internet. Digital twin computing (DTC) and jitter buffer are effective to solve this problem. In our previous study, we clarified effectiveness of them in UV remote control by CS. The jitter buffer absorbs the transmission delay jitter of control signals. This is effective to achieve accurate UV remote control. Adaptive buffering time optimization according to real-time transmission characteristics is necessary to achieve more accurate UV control in CS-based remote control system with DTC and jitter buffer. In this study, we proposed a method for the adaptive optimization according to real-time transmission delay characteristics. To quantitatively evaluate the effectiveness of the method, we created a UV remote control simulator of the control system. The results of simulations quantitatively clarify that the adaptive optimization by the proposed method improves the UV control accuracy.
- Publication
- IEICE TRANSACTIONS on Communications Vol.E106-B No.7 pp.603-613
- Publication Date
- 2023/07/01
- Publicized
- 2022/12/26
- Online ISSN
- 1745-1345
- DOI
- 10.1587/transcom.2022EBP3150
- Type of Manuscript
- PAPER
- Category
- Navigation, Guidance and Control Systems
Authors
Yudai YOSHIMOTO
National Defense Academy of Japan
Masaki MINAGAWA
National Defense Academy of Japan
Ryohei NAKAMURA
National Defense Academy of Japan
Hisaya HADAMA
National Defense Academy of Japan
Keyword
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Yudai YOSHIMOTO, Masaki MINAGAWA, Ryohei NAKAMURA, Hisaya HADAMA, "Adaptive Buffering Time Optimization for Path Tracking Control of Unmanned Vehicle by Cloud Server with Digital Twin" in IEICE TRANSACTIONS on Communications,
vol. E106-B, no. 7, pp. 603-613, July 2023, doi: 10.1587/transcom.2022EBP3150.
Abstract: Autonomous driving technology is expected to be applied to various applications with unmanned vehicles (UVs), such as small delivery vehicles for office supplies and smart wheelchairs. UV remote control by a cloud server (CS) would achieve cost-effective applications with a large number of UVs. In general, dead time in real-time feedback control reduces the control accuracy. On remote path tracking control by the CS, UV control accuracy deteriorates due to transmission delay and jitter through the Internet. Digital twin computing (DTC) and jitter buffer are effective to solve this problem. In our previous study, we clarified effectiveness of them in UV remote control by CS. The jitter buffer absorbs the transmission delay jitter of control signals. This is effective to achieve accurate UV remote control. Adaptive buffering time optimization according to real-time transmission characteristics is necessary to achieve more accurate UV control in CS-based remote control system with DTC and jitter buffer. In this study, we proposed a method for the adaptive optimization according to real-time transmission delay characteristics. To quantitatively evaluate the effectiveness of the method, we created a UV remote control simulator of the control system. The results of simulations quantitatively clarify that the adaptive optimization by the proposed method improves the UV control accuracy.
URL: https://global.ieice.org/en_transactions/communications/10.1587/transcom.2022EBP3150/_p
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@ARTICLE{e106-b_7_603,
author={Yudai YOSHIMOTO, Masaki MINAGAWA, Ryohei NAKAMURA, Hisaya HADAMA, },
journal={IEICE TRANSACTIONS on Communications},
title={Adaptive Buffering Time Optimization for Path Tracking Control of Unmanned Vehicle by Cloud Server with Digital Twin},
year={2023},
volume={E106-B},
number={7},
pages={603-613},
abstract={Autonomous driving technology is expected to be applied to various applications with unmanned vehicles (UVs), such as small delivery vehicles for office supplies and smart wheelchairs. UV remote control by a cloud server (CS) would achieve cost-effective applications with a large number of UVs. In general, dead time in real-time feedback control reduces the control accuracy. On remote path tracking control by the CS, UV control accuracy deteriorates due to transmission delay and jitter through the Internet. Digital twin computing (DTC) and jitter buffer are effective to solve this problem. In our previous study, we clarified effectiveness of them in UV remote control by CS. The jitter buffer absorbs the transmission delay jitter of control signals. This is effective to achieve accurate UV remote control. Adaptive buffering time optimization according to real-time transmission characteristics is necessary to achieve more accurate UV control in CS-based remote control system with DTC and jitter buffer. In this study, we proposed a method for the adaptive optimization according to real-time transmission delay characteristics. To quantitatively evaluate the effectiveness of the method, we created a UV remote control simulator of the control system. The results of simulations quantitatively clarify that the adaptive optimization by the proposed method improves the UV control accuracy.},
keywords={},
doi={10.1587/transcom.2022EBP3150},
ISSN={1745-1345},
month={July},}
Copy
TY - JOUR
TI - Adaptive Buffering Time Optimization for Path Tracking Control of Unmanned Vehicle by Cloud Server with Digital Twin
T2 - IEICE TRANSACTIONS on Communications
SP - 603
EP - 613
AU - Yudai YOSHIMOTO
AU - Masaki MINAGAWA
AU - Ryohei NAKAMURA
AU - Hisaya HADAMA
PY - 2023
DO - 10.1587/transcom.2022EBP3150
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E106-B
IS - 7
JA - IEICE TRANSACTIONS on Communications
Y1 - July 2023
AB - Autonomous driving technology is expected to be applied to various applications with unmanned vehicles (UVs), such as small delivery vehicles for office supplies and smart wheelchairs. UV remote control by a cloud server (CS) would achieve cost-effective applications with a large number of UVs. In general, dead time in real-time feedback control reduces the control accuracy. On remote path tracking control by the CS, UV control accuracy deteriorates due to transmission delay and jitter through the Internet. Digital twin computing (DTC) and jitter buffer are effective to solve this problem. In our previous study, we clarified effectiveness of them in UV remote control by CS. The jitter buffer absorbs the transmission delay jitter of control signals. This is effective to achieve accurate UV remote control. Adaptive buffering time optimization according to real-time transmission characteristics is necessary to achieve more accurate UV control in CS-based remote control system with DTC and jitter buffer. In this study, we proposed a method for the adaptive optimization according to real-time transmission delay characteristics. To quantitatively evaluate the effectiveness of the method, we created a UV remote control simulator of the control system. The results of simulations quantitatively clarify that the adaptive optimization by the proposed method improves the UV control accuracy.
ER -
English
