Simulating the Mobility of Wheeled Ground Vehicles with Mercury

Goodin, Chris; Mange, Jeremy; Pace, Sara A.; Skorupa, Thomas; Kedziorek, Daniel; Priddy, Jody D.; Lynch, Larry N.

doi:10.4271/2017-01-0273

Cited by 5 publications

(1 citation statement)

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“…As examples of other types of simulations enabled by Chrono::Vehicle we mention studies of wheeled vehicles with flexible tyres on granular terrain (Recuero et al, 2017;Serban et al, 2017) to investigate the effect of tyre and terrain deformation on mobility metrics; and design of model predictive controllers for obstacle avoidance on deformable terrain (Haraus et al, 2017) to investigate controller performance and robustness. Chrono::Vehicle is an integral part of the Mercury framework for mobility simulation of wheeled ground vehicles (Goodin et al, 2017).…”

Section: Ground Vehicle Mobility Simulations With Chrono::vehiclementioning

confidence: 99%

Chrono::Vehicle: template-based ground vehicle modelling and simulation

Serban

Taylor

Negrut

et al. 2019

IJVP

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Chrono::Vehicle is a module of the open-source multi-physics simulation package Chrono, aimed at modelling, simulation, and visualisation of wheeled and tracked ground vehicle multi-body systems. Its software architecture and design was dictated by the desire to provide an expeditious and userfriendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modelling and simulation capabilities, allowing seamless interfacing to other optional Chrono modules (e.g., its granular dynamics and fluid-solid interaction (FSI) capabilities), and providing a modular and expressive API to facilitate its use in third-party applications. Vehicle models are specified as a hierarchy of subsystems, each of which is an instantiation of a predefined subsystem template. Written in C++, Chrono::Vehicle is offered as a middleware library. In this paper, we provide an overview of the Chrono::Vehicle software design philosophy, its main capabilities and features, describe the types of ground vehicle mobility simulations it enables, and outline several directions of future development and planned extensions.

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Section: Ground Vehicle Mobility Simulations With Chrono::vehiclementioning

confidence: 99%