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investigating the mobility of light autonomous tracked vehicles using a high performance computing simulation capabilityThis paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.
Document ID
20130010646
Document Type
Conference Paper
External Source(s)
Authors
Negrut, Dan
(Wisconsin Univ. Madison, WI, United States)
Mazhar, Hammad
(Wisconsin Univ. Madison, WI, United States)
Melanz, Daniel
(Wisconsin Univ. Madison, WI, United States)
Lamb, David
(Army Tank-Automotive Research and Development Command Warren, MI, United States)
Jayakumar, Paramsothy
(Army Tank-Automotive Research and Development Command Warren, MI, United States)
Letherwood, Michael
(Army Tank-Automotive Research and Development Command Warren, MI, United States)
Jain, Abhinandan
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Quadrelli, Marco
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 27, 2013
Publication Date
August 14, 2012
Subject Category
Computer Systems
Meeting Information
Ground Vehicle Systems Engineering and Technology(Dearborn, MI)
Funding Number(s)
CONTRACT_GRANT: W911NF-11-D-0001-0048
CONTRACT_GRANT: NSF CMMI-0840442
Distribution Limits
Public
Copyright
Other
Keywords
tracked vehicles
high performance computing
drilling
robotics
simulation
autonomy