变形地形上地面车辆的实时仿真

IF 1.9 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Radu Serban, Jay Taves, Jason Zhou
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引用次数: 0

摘要

基于刚柔多体动力学的复杂建模与仿真已成为当今车辆系统设计与分析的标准方法,并被广泛应用于道路驾驶。地面轮式和履带式车辆的越野驾驶,以及用于地外探索的轮式和腿式机器人和漫游者,都提出了额外的建模和仿真挑战,主要挑战是车辆与地形的相互作用、可变形地形的建模和一般的地形力学。建模可变形地形的技术跨越了整个范围,在复杂性、表示精度和随后的计算工作量方面各不相同。虽然完全分解的颗粒动力学、颗粒材料的连续表示或有限元等公式可以提供高水平的准确性,但它们的成本很高,即使在实现利用并行计算和/或硬件加速器时也是如此。实时或比实时更快的地形力学是一种非常需要的能力(如自动驾驶车辆和机器人系统的训练)或关键能力(如人在环或硬件在环的应用)。我们提出了一个实时的可变形土壤实现,从德国航空航天中心开发的土壤接触模型(SCM)扩展而来,反过来可以看作是Bekker-Wong和Janosi-Hanamoto的土壤与任意三维形状和任意接触斑块相互作用的半经验模型的推广。在开源的多物理场包Chrono中,可以使用这个SCM实现,以及更多计算密集型的可变形土壤表示。我们描述了Chrono SCM模型的总体实现和特点,高效的底层数据结构,当前的多核并行化方面,以及它在可变形地形上并发模拟多辆车的可扩展性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Real-Time Simulation of Ground Vehicles on Deformable Terrain
Abstract Sophisticated modeling and simulation, based on rigid and flexible multibody dynamics, are nowadays a standard procedure in the design and analysis of vehicle systems and are widely adopted for on-road driving. Off-road driving for both terrestrial wheeled and tracked vehicles, as well as wheeled and legged robots and rovers for extra-terrestrial exploration pose additional modeling and simulation challenges, a primary one being that of the vehicle–terrain interaction, modeling of deformable terrain, and terramechanics in general. Techniques for modeling deformable terrain span an entire range varying in complexity, representation accuracy, and ensuing computational effort. While formulations such as fully resolved granular dynamics, continuum representation of granular material, or finite element can provide a high level of accuracy, they do so at a significant cost, even when the implementation leverages parallel computing and/or hardware accelerators. Real-time or faster than real-time terramechanics is a highly desired capability (in applications such as training of autonomous vehicles and robotic systems) or critical capability (in applications such as human-in-the-loop or hardware-in-the-loop). We present a real-time capable deformable soil implementation, extended from the soil contact model (SCM) developed at the German Aerospace Center which in turn can be viewed as a generalization of the Bekker-Wong and Janosi-Hanamoto semi-empirical models for soil interaction with arbitrary three-dimensional shapes and arbitrary contact patches. This SCM implementation is available, alongside more computationally intensive deformable soil representations, in the open-source multiphysics package Chrono. We describe the overall implementation and the features of the Chrono SCM model, the efficient underlying data structures, the current multicore parallelization aspects, and its scalability properties for concurrent simulation of multiple vehicles on deformable terrain.
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来源期刊
CiteScore
4.00
自引率
10.00%
发文量
72
审稿时长
6-12 weeks
期刊介绍: The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.
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