An experimental study on digital twin computing for cloud-based remote path tracking control of unmanned vehicle

Abstract

Our previous study quantitatively evaluated that digital twin computing was effective for remote control of a small vehicle by a cloud server through simulations. To confirm the effectiveness, we realized an experimental remote control system with digital twin model (DTM) of a small vehicle. Then, we evaluated the vehicle control accuracy on remote path tracking control. This letter shows the results. We confirmed that the DTM improved the control accuracy when there existed one-way transmission delay of 500 ms. In addition, we evaluated reduction of the control accuracy due to modeling error between the DTM and the real vehicle.