Fast simulation of vehicles with non-deformable tracks

Martin Pecka; Karel Zimmermann; Tomáš Svoboda

IROS 2017poster42 citations

Fast simulation of vehicles with non-deformable tracks

Martin Pecka, Karel Zimmermann, Tomáš Svoboda

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.

BibTeX

@inproceedings{iros2017_fastsimulationof,
  title = {Fast simulation of vehicles with non-deformable tracks},
  author = {Martin Pecka and Karel Zimmermann and Tomáš Svoboda},
  booktitle = {IROS 2017},
  year = {2017}
}