Real-time Ground Dynamics Simulation Method of a Wheeled Mobile Robot in Virtual Terrain

摘要：

Though simulation is pivotal to robot development,there are few dedicated choices for those wishing to perform realistic real-time simulations of ground robot. This paper deduces a completed ground dynamic model and provides an effective method for real-time simulation of mobile robot cruising in complex terrain based on commercial off-the-shelf (COTS) hardware and software. The rigorous physicsbased robot and robot-terrain interaction model in conjunction with high-quality,multimedia visualization techniques form an intuitive and accurate engineering tool which enables analysis and testing of robot dynamics and terrain interaction in real-time. The simulation method will implement a controlled,repeatable test bed for designing a wheeled mobile robot,analyzing its behavior,and researching advanced control strategy.

关键词： Wheeled Mobile Robot ground dynamics virtual terrain real-time simulation

作者: Zhang Lei Gao Wei Dai Xiaolin

作者单位: School of Physics and Electronics,Henan University,Kaifeng,Henan Province,China School of Mechatronics Engineering,University of Electronic Science and Technology of China,Chengdu,

会议类型: 国际会议

会议名称: 2011 International Conference on Opto-Electronics Engineering and Information Science(2011光电电子工程与信息科学国际会议 ICOEIS 2011)

会议地点: 西安

会议语种:英文

页码: 2550-2554

在线出版日期: 2011-12-23（万方平台首次上网日期，不代表论文的发表时间）