Real-Time Simulation and Dynamics of Vehicles on Unstructured Terrain

点击翻译按钮获取中文摘要

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.