5540

Simulating vehicle kinematics with SimVis3D and Newton

Jens Wettach, Daniel Schmidt, Karsten Berns
Robotics Research Lab, Kaiserslautern, Germany
Simulation, Modeling, and Programming for Autonomous Robots, Lecture Notes in Computer Science, 2010, Volume 6472/2010, 156-167

@article{wettach2010simulating,

   title={Simulating vehicle kinematics with SimVis3D and Newton},

   author={Wettach, J. and Schmidt, D. and Berns, K.},

   journal={Simulation, Modeling, and Programming for Autonomous Robots},

   pages={156–167},

   year={2010},

   publisher={Springer}

}

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This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer like robot is used. First its differential drive is simulated manually, without physical effects. Then the dynamics engine is applied to simulate this drive mechanism based on rolling friction between wheels and ground. Comparing the effort of application code for both approaches shows the benefit of delegating the calculation of rigid body motions. This fact is further stressed by simulating a trailer as a passive vehicle without any code extensions. Finally, a standard vehicle kinematic system consisting of Ackermann steering and rear wheel drive is realized. The paper concludes with an application of this model for simulating the drive system of a bucket excavator as real world scenario.
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