Real-Time Simulation of Ground Vehicles on Deformable Terrain

摘要

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 modeling 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 multi-physics package Chrono. We describe the overall implementation and the features of the Chrono SCM model, the efficient underlying data structures, the current multi-core parallelization aspects, and its scalability properties for concurrent simulation of multiple vehicles on deformable terrain.