Dynamic Simulation of Actively-Coordinated Wheeled Vehicle Systems on Uneven Terrain
نویسندگان
چکیده
In this paper, a graphical dynamic simulator is developed that can simulate actively-coordinated wheeled vehicle systems on uneven faceted terrain. Based on the considerations of model delity and computational efciency, a simple geometric model for wheel-terrain contact is proposed. In addition, a computationallye cient algorithm for contact detection is developed. We also devise a contact force model based on soil mechanics. Simulation results of a case where the WAAV [1] is traversing a concave edge between facets are used to demonstrate the good performance of our contact model.
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