A Real-Time, Interactive Simulation Environment for Unmanned Ground Vehicles: The Autonomous Navigation Virtual Environment Laboratory (ANVEL)
A Real-Time, Interactive Simulation Environment for Unmanned Ground Vehicles: The Autonomous Navigation Virtual Environment Laboratory (ANVEL)
复制标题
无人地面车辆的实时交互式仿真环境：自主导航虚拟环境实验室 (ANVEL)
DOI：
--
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Justin Crawford
中科院分区：
文献类型：
--
作者：
P. J. Durst;Christopher Goodin;Christopher L. Cummins;Burhman Q. Gates;Burney McKinley;Taylor R. George;Mitchell M. Rohde;Matthew A. Toschlog;Justin Crawford
建模和仿真工具已成为现代工程过程中不可或缺的一部分。特别是，准确和有效的仿真工具是设计，开发和测试的自主无人地面车辆（UGV）的关键。然而，由于问题的复杂性，许多UGV模拟器是计算密集型的，需要昂贵的硬件来运行，并且通常不是交互式的或实时的。那些为用户提供一定程度的交互性和实时或更快性能的仿真环境在牺牲仿真保真度的情况下获得了这些功能，并且这些产品通常提供不充分的结果。自主导航虚拟环境实验室（ANVEL）是一个新的UGV设计和开发仿真环境，它可以满足UGV实时、交互、基于物理的仿真环境的需求。ANVEL能够通过将现成的视频游戏技术与高保真的基于物理的模型相融合来满足这一需求。本文介绍了在开发ANVEL中使用的方法，ANVEL用于自主UGV的开发和测试的一个例子，并计划未来的发展。
Modeling and simulation tools have become an integral part of modern engineering processes. In particular, accurate and efficient simulation tools are critical for the design, development, and testing of autonomous unmanned ground vehicles (UGVs). However, because of the complexity of the problem, many UGV simulators are computationally intensive, require expensive hardware to run, and are often not interactive or real-time. Those simulation environments that do provide users with some degree of interactivity and real-time or faster performance gain these features at the sacrifice of simulation fidelity, and these products often provide inadequate results. A new simulation environment for UGV design and development, called the Autonomous Navigation Virtual Environment Laboratory (ANVEL), has been created to address the need for a real-time, interactive, physics-based simulation environment for UGVs. ANVEL is able to meet this need by fusing readily available, off-the-shelf video game technology with high-fidelity, physics-based models. This paper presents the methodology used in developing ANVEL, an example use of ANVEL for development and testing of an autonomous UGV, and plans for the future development.