Behavior of digital and analog controller devices for manual driving of rhombic like vehicles

This paper describes a study of different remotely operated driving modes applied to rhombic like vehicles using the digital buttons and the analog sticks of a generic game controller device (e.g., joysticks and gamepads). The performance of the different modes was evaluated using a software simulator and a 2D model of the Tokamak building of ITER. Several experiments were performed taking into account relevant parameters, such as the distance to the obstacles and accelerations. An optimal approach for a real implementation with a rhombic like vehicle prototype is proposed and discussed.