Simulation for Bilateral Teleoperation of Vehicle

Nishihara, Osamu; Sakai, Akihiko; ETO, Shingo; Hiraoka, Toshihiro; Kumamoto, Hiromitsu · 2003 · The Proceedings of the Symposium on the Motion and Vibration Control

DOI: 10.1299/jsmemovic.2003.8.499

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Summary

This paper addresses the challenge of designing stable bilateral teleoperation systems for remote vehicles over networks with time-varying delays, such as the Internet. While bilateral control offers improved operability by transmitting environmental forces to the operator, communication delays often cause instability and loss of transparency. The authors aim to establish a stable remote steering system for four-wheeled vehicles by constructing a simulation environment that allows for the design and verification of control architectures before physical implementation. The study utilizes a simulation environment based on CarSim, a dynamics simulator for four-wheeled vehicles. The system consists of a master side, operated by a human using a handle connected to a Direct Drive (DD) motor, and a slave side, which simulates the vehicle dynamics. The master system measures handle torque and angular velocity, sending the latter as a command to the slave. The slave system, running on a DSP, calculates vehicle dynamics and returns steering torque commands to the master to generate reaction forces. Visual feedback is provided via rendered images of the virtual vehicle. Communication between the master and slave occurs over a Local Area Network (LAN) using UDP sockets to prioritize real-time performance over reliability. To manage data order and measure delay, sequence information and timestamps are included in the data packets. To address instability caused by delay, the authors propose a delay compensation method based on passivity theory. They define wave variables for the communication system and demonstrate that the system satisfies passivity and losslessness regardless of the delay time. Experimental results within the simulation environment measured the round-trip communication delay, finding an average of 0.041 seconds with a small standard deviation. The authors assume constant delay for the theoretical analysis of the compensation method. The simulation experiments validated the effectiveness of the proposed control strategy, showing that the system could maintain stability and provide force feedback despite the presence of communication delays. The significance of this work lies in providing a validated simulation framework for developing bilateral teleoperation systems for vehicles. By demonstrating that passivity-based control can ensure stability in the presence of network delays, the study offers a theoretical and practical foundation for remote vehicle handling in hazardous or inaccessible environments. The use of CarSim allows for detailed analysis of vehicle dynamics under various conditions, facilitating the optimization of control parameters. This approach supports the broader goal of enabling dexterous remote operation of vehicles over generic networks like the Internet, where delay characteristics are unpredictable.

Key finding

The proposed passivity-based control method successfully stabilized the bilateral teleoperation system in the simulation environment despite communication delays.

Methodology

simulation_modeling

Provenance

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Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.

Topics

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• teleoperation remote driving