Kinematical Modeling for Terrain Following Algorithm of Vehicles Moving on the Ground

Wen Hui Zhang; Feng Guo; Huan Zhou; Zhi An Lin; Ji Ming Lin

doi:10.4028/www.scientific.net/AMR.915-916.1277

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 915-916Kinematical Modeling for Terrain Following...

Kinematical Modeling for Terrain Following Algorithm of Vehicles Moving on the Ground

Abstract:

In this paper, a common kinematic model of the terrain following algorithm is proposed for the simulation of vehicles moving on the ground. In this model, Euler angles are adopted to describe vehicles' motion attitudes and corresponding rotation matrices are constructed for transformations between coordinate systems. The motion control is divided into moving forward/back and turning because of the mass grid about rigid vehicles. The modeling of turning, a problem always ignored by others, is particularly and accurately analyzed in this model. Based on kinematics, our model is computationally simpler than dynamical models, so it is more suitable for large-scale virtual simulation systems that need to animate many vehicles at the same time.

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Periodical:

Advanced Materials Research (Volumes 915-916)

Pages:

1277-1284

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.915-916.1277

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Online since:

April 2014

Authors:

Wen Hui Zhang, Feng Guo, Huan Zhou, Zhi An Lin, Ji Ming Lin*

Keywords:

Kinematical Modelling, Motion Attitude, Terrain Following, Virtual Environment

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