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.
翻译:本文介绍了一种新颖的技术,它既能快速计算,又能对具有不变形轨迹的车辆进行充分可信的模拟。该方法基于我们称为“接触地面运动”的效果。与其他一些模拟跟踪车辆动态的方法进行了比较,目的是评估现成的或尽可能少用的一般用途机器人模拟器中可用的方法。拟议方法是作为使用“开放动力引擎”的开源物理模拟器Gazebo插件实施的。