Mobility Simulation Framework of Tracked Vehicle in Virtual Environment

Abstract

This paper analyzes the modeling methods and characteristics of the mobility of the tracked vehicle. According to the demand of the virtual simulation on both accuracy and velocity of the model computation, this paper establishes a mobility simulation framework of tracked vehicle that is suitable for fast simulation calculation based on its dynamics and kinematics principles. The framework combines the principles with software of Matlab. In the framework, the vehicle mobility model is established based on the simplification of the vehicle mechanics, trafficability, obstacle crossing and other mathematical principles, which is also verified iteratively. Matlab ensures the computational efficiency and the consistency of pillars in the framework. The framework is characterized by the versatility, extendibility, reusability, and its effectiveness is validated by the simulation experiments and real vehicle test. In summary, the framework provides modelers a feasible solution when modeling relevant simulations such as virtual training system.