Design And Implementation Of General-purpose Vehicle Visual Simulation Platform And Wheel-terrain Interaction Visual Simulation Of Lunar Rover

In order to analyze and design vehicle control system, a virtual reality simulation platform suitable for different types of vehicles is developed using VC++ and Vega. The platform has the function of visual simulation for vehicles with no joint, multi-joint vehicles and multi-body systems. The observer in Vega can revolve round the player and zoom in/out. Non-real-time and real-time data association and drive technology has been studied respectively, and by using MATLAB library, MAT file and M file simulation-driven approaches are achieved. The helicopter simulation example validate the effectiveness and the advantage of the platform.A lunar rover 3D model is created by using Multigen Creator. Using Vega as the visual simulation platform, wheel-terrain interaction and inverse kinematics solution of lunar rover is realized. The key technologies such as collision detection, intersection vector setting, and joint control are discussed. The experimental results and analysis of lunar rover uphill and downhill show the effectiveness of the method in the visual simulation of wheel-terrain interaction.This paper analyzes key technologies of the system. Using simulation data, 3D effect of motion was completed. The viewpoint can rotate around the player, get closer/far from the player and it can roaming freely in any direction by line of sight. Using OpenGL and Vega hybrid programming technology, the functions of the player's moving orbit display and output parameter display were finished. The system provides a convenient auxiliary tool for the research of complex control theories.