This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.
Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics
Annual Ground Vehicle Systems Engineering And Technology Symposium (GVSETS) Symposium ; 2013 ; Troy, MI, United States
2013-08-20
Aufsatz (Konferenz)
Keine Angabe
Englisch
Variable Fidelity Simulation and Replay for Unmanned Autonomous Ground Vehicles
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