非形变履带车辆快速仿真
机器人学
2022-06-22 v2
摘要
本文提出了一种新颖的技术，能够对非形变履带车辆进行计算快速且足够逼真的仿真。该方法基于我们称之为接触面运动的一种效应。本文将其与几种用于履带车辆动力学仿真的其他方法进行了比较，旨在评估在通用机器人仿真器中可直接使用或仅需极少努力即可获得的方法。所提出的方法已作为插件在基于开源物理引擎Gazebo中使用Open Dynamics Engine实现。
引用
@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}
}
备注
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