Fast Simulation of Vehicles with Non-deformable Tracks
Abstract
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A comparison with several other methods for simulation of tracked vehicle dynamics is presented with the aim to evaluate methods that are available off-the-shelf or with minimum effort in general-purpose robotics simulators. The proposed method is implemented as a plugin for the open-source physics-based simulator Gazebo using the Open Dynamics Engine.
Keywords
Cite
@article{arxiv.1703.04316,
title = {Fast Simulation of Vehicles with Non-deformable Tracks},
author = {Martin Pecka and Karel Zimmermann and Tomáš Svoboda},
journal= {arXiv preprint arXiv:1703.04316},
year = {2022}
}
Comments
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