Fast Simulation of Vehicles with Non-deformable Tracks
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2022)
摘要
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A comparison with several other methods for simulation of tracked vehicle dynamics is presented with the aim to evaluate methods that are available off-the-shelf or with minimum effort in general-purpose robotics simulators. The proposed method is implemented as a plugin for the open-source physics-based simulator Gazebo using the Open Dynamics Engine.
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关键词
tracked vehicle dynamics,general-purpose robotics simulators,nondeformable tracks,computationally fast simulation,sufficiently plausible simulation,vehicle fast simulation,contact surface motion,open-source physics-based simulator,Gazebo,open dynamics engine
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