Paper Info
Title
Simulating vehicle kinematics with SimVis3D and Newton
Abstract
This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer1 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 realized2. The paper concludes with an application of this model for simulating the drive system of a bucket excavator as real world scenario.
Year
DOI
Venue
2010
10.1007/978-3-642-17319-6_17
SIMPAR
Keywords
Field
DocType
ackermann steering,code extension,application code,passive vehicle,rear wheel drive,vehicle kinematics,simulating vehicle kinematics,standard vehicle kinematic system,drive mechanism,differential drive,drive system,rigid body motion
Differential (mechanical device),Kinematics,Simulation,Computer science,Rigid body,Excavator,Artificial intelligence,Robot,Rolling resistance,Trailer,Robotics
Conference
Volume
ISSN
ISBN
6472
0302-9743
3-642-17318-7
Citations 
PageRank 
References 
8
0.63
6
Authors
3
Name
Order
Citations
PageRank
Jens Wettach1495.44
Daniel Schmidt2144.94
Karsten Berns3705119.86