Real-Time Simulation and Dynamics of Vehicles on Unstructured Terrain

车轮/轨道与非结构化环境之间的接触交互作用是越野车辆、各类工程机械和其他平台等机械系统运行的核心要素。该项目涉及车辆和机械在非结构化地形上运行的交互式实时仿真方法，特别关注与地形的相互作用。我们将开发一个通用的动态建模框架，它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。第一个将解决车轮-土壤和物体-土壤接触对的直接接触的不同建模可能性，并将包括新的发展，使这些模型适用于动态建模和交互式仿真。第二部分将解决兼容的车轮建模和接触的整体动力学公式和相关的解决算法。这将包括几个新的贡献，无论是在车轮模型的制定，并在解决算法。第三部分将讨论地形表征，以表示地形几何和变形，从传感信息中恢复地形属性，以及在车辆自动驾驶中的应用。HQP培训将成为项目执行的中心。计划中的受训者将包括四名博士生。我们期望这项工作的结果将产生重要的研究成果，这将对加拿大经济作出重大贡献。在涉及土壤接触的非公路车辆和机械、建筑、采矿和地外作业的模拟方面，各部门的兴趣日益增加。模拟和虚拟环境产业在魁北克也有很强的根基。预期的结果将进一步加强这一工业部门，并将为我们的工业合作伙伴CMLabs simulation Inc.创造新的商业机会，并有助于创造新的就业机会。

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.