3D Graphical Simulation On Multiple Ground Vehicle System

With the development of intelligent robot technology, research of multiple unmanned ground vehicle (MUGV) has progressed rapidly. Recently, It has been widely applied to both military and civil fields. MUGV system works through global planning and cooperation among an amount of unmanned ground vehicles. The whole functionality of MUGV system is based on task allocation and cooperation on multiple layers. Since it is extremely difficult and expensive to validate and implement due to its inherent complexity and real-time requirement of the system, 3D graphical simulation plays an important role in improving the architecture of the system towards robustness and reasonability.This thesis surveys previous works of graphical simulation technology and real time rendering technology, and describes the design and implementation of a real-time 3D simulation system for MUGV.The main contributions of the thesis are as follows. (1) The research background, system architecture, and related key theory and technology are surveyed; (2) Several key problems of 3D simulation are researched including the management of scene graph, the level of detail (LOD) and real-time realistic rendering techniques; (3) An engine-independent concept is proposed as well as its definition and specification of the interface so as to enhance the scalability and maintainability of the implementation; (4) A fractal-based algorithm is investigated and improved to automatically generate terrain according to accessibility information; (5) An algorithm is brought forth to solve the network jitter which results in rendering nonfluency.In the last part of this thesis, several areas for further research are also suggested.