Development of an Autonomous Off-Road Ground Vehicle Simulator
Abstract
Major Goals: 1. Perform a literature review ASA will perform a literature review of existing simulation environments for single and multiple agent testing. Examples of these simulation environments are the Automated Driving Toolbox (ADT) developed by MathWorks, the Autonomous Vehicle software developed by Siemens, CARLA, rFpro, metamoto, Orchestra, cognata, ANVEL and CHRONO. Studying these and other solutions in detail will offer insights into better ways of handling various aspects of the AVSP. Furthermore valuable partnerships can be established with market leaders in this field that are identified through the literature review. 2. Produce a prototype of the AVSP 2.1 Develop a prototype of the AVSP as an open-source tool: The AVSP will be developed as an open-source software tool that can easily be used and augmented by other parties. The prototype that will be developed in Phase I of this project will run under the Windows operating system. It will include the user-interface for setting up the simulation and a general networking interface for integrating the various sub-components of the software. 2.2 Integrate the Unreal engine into the AVSP: The Unreal engine will be integrated into the AVSP. The Unreal engine will be used to generate a sample multiple level-of-detail terrain with various features such a hills, mountains, vegetation (grass, shrubs, and trees), rocks, trails, urban obstacles/structures, etc. The objective is to show that the AVSP can produce a photorealistic environment that can mimic a real off-road environment. 2.3 Integrate sensor models into the AVSP: The visible light mono camera and radar sensor models will be integrated into the AVSP. The ray tracing capability of the Unreal engine will be used to simulate those sensors. 2.4 Integrate simple terramechanics in the AVSP: A simple terramechanics capability will be added to the AVSP.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 31, 2021
- Accession Number
- AD1187976
Entities
People
- Hatem M Wasfy
- Tamer M. Wasfy