Real-Time Simulation and Dynamics of Vehicles on Unstructured Terrain

非结构化地形上车辆的实时仿真和动力学

• 批准号: 568479-2021
• 负责人: Kövecses, Jozsef
• 金额: $ 5.83万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=723287
• 关键词: Real; Time; Simulation; Dynamics; Vehicles

Contact interaction between wheel/track and unstructured environment is the core element in the functioning of mechanical systems representing off-road vehicles, various types of construction machinery, and other platforms. This project deals with methods for interactive real-time simulation of vehicles and machinery operating on unstructured terrain with particular attention to the interaction with the terrain. We will develop a general, dynamics modelling framework that will rely on different possibilities to characterize the interaction with the terrain. The project will have three main, parallel, interrelated parts. The first will address the different modelling possibilities of the direct contact for wheel-soil and object-soil contact pairs, and will include novel developments to make such models suitable for use in dynamics modelling and interactive simulation. The second part will address compliant wheel modelling and contact for the overall dynamics formulation and the related solution algorithms. This will include several novel contributions, both in the formulation of the wheel models, and in the solution algorithms. The third part will address terrain characterization to represent terrain geometry and deformation, the recovery of terrain properties from sensing information, and applications in vehicle autonomy. HQP training will form a central point in the execution of the project. The planned group of trainees will include four Ph.D. students. We expect that the results of the work will produce important research findings that will strongly contribute to the Canadian economy. There is an increased interest in various sectors in the simulation of off-road vehicles and machinery, construction, mining, and extraterrestrial operations that involve soil contact. The simulations and virtual environments industry also has strong roots in Quebec. The expected results will further strengthen this industrial sector, and will generate the basis for new business opportunities for our industrial partner, CMLabs Simulations Inc., and contribute to the creation of new jobs.

车轮/轨道与非结构化环境之间的接触相互作用是代表越野车辆、各种类型的工程机械和其他平台的机械系统的功能的核心要素。该项目涉及的方法进行交互式实时模拟的车辆和机械在非结构化的地形上运行，特别注意与地形的相互作用。我们将开发一个通用的动力学建模框架，该框架将依赖于不同的可能性来表征与地形的相互作用。该项目将有三个主要的、平行的、相互关联的部分。第一个将解决不同的建模可能性的直接接触轮-土壤和对象-土壤接触对，并将包括新的发展，使这种模型适合用于动力学建模和交互式仿真。第二部分将解决顺应车轮建模和接触的整体动力学制定和相关的解决方案的算法。这将包括几个新的贡献，无论是在制定的车轮模型，并在解决方案的算法。第三部分将讨论地形表征，以表示地形几何形状和变形，从传感信息中恢复地形属性，以及在车辆自主性中的应用。HQP培训将成为项目执行的中心点。计划中的受训人员将包括四名博士。学生我们希望这项工作的结果将产生重要的研究成果，这将大大有助于加拿大经济。在模拟越野车辆和机械、建筑、采矿和涉及土壤接触的外星作业方面，各个部门的兴趣越来越大。模拟和虚拟环境行业也在魁北克有着深厚的根基。预期结果将进一步加强该工业领域，并将为我们的工业合作伙伴CMLabs Simulations Inc.创造新的商业机会奠定基础，并为创造新的就业机会做出贡献。