Deformable soil with adaptive level of detail for tracked and wheeled vehicles
Deformable soil with adaptive level of detail for tracked and wheeled vehicles
复制标题
可变形土壤，具有适用于履带式和轮式车辆的自适应细节水平
DOI：
10.1504/ijvp.2019.10018134
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发表时间：
2019
影响因子：
--
通讯作者：
P. Jayakumar
中科院分区：
文献类型：
--
作者：
A. Tasora;D. Mangoni;D. Negrut;R. Serban;P. Jayakumar
本文描述了一种基于具有垂直变形的三角形网格的可变形土壤模型。这种土壤模型可用于多体仿真环境中，以研究轮式或履带式车辆的性能。该公式的灵感来自于土壤接触模型（SCM），但与最初的想法不同，我们的实现使用具有任意拓扑的三角形网格。我们利用土壤的这种表示形式，提供一个系统，当轮胎或履带板沉入土壤中时，该系统可以自动细化网格的细节级别 (LOD)；这允许使用粗网格作为大区域的初始近似值，以获得更快的性能和较低的计算机内存开销。通用碰撞检测算法用于检测接触物体的形状，因此允许使用通用几何形状来表示凸耳、轮胎螺纹，甚至履带板或机器人腿。该方法还用可变形轮胎进行了测试。
This paper describes a model for deformable soil based on triangular meshes with vertical deformation. Such soil model can be used in a multi-body simulation environment to study the performance of wheeled or tracked vehicles. The formulation is inspired by the soil contact model (SCM), but unlike the original idea, our implementation uses triangular meshes with arbitrary topology. We leverage on this representation of the soil in order to provide a system that automatically refines the level of detail (LOD) of the mesh when tyres or track shoes sink into the soil; this allows the use of coarse meshes as initial approximations of large areas, for the sake of faster performance and lowoverhead on computer memory. A general-purpose collision detection algorithm is used to detect the shape of contacting objects, hence allowing the use of generic geometries to represent lugs, tyre threads, or even track shoes or robotic legs. The method has also been tested with deformable tyres.