构建高保真挖掘机器人仿真环境，支持自主作业全流程测试。
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
- 基于Unity3D与AGX，可自定义挖掘机器人与地形配置。
- 引入时变模型模拟系统响应差异，提升动态真实性。
- 适用于机器人自主控制、感知与路径规划研究者。
挖掘机器人自主化开发面临作业环境复杂、物理交互多样及机械自由度高等挑战。仿真是构建自主系统的重要工具，但传统模拟器多关注关节或地形间高保真交互，缺乏对端到端自主所需感知能力的支持。本文提出TERA（Terrain Excavation Robot Autonomy）仿真环境，基于Unity3D与AGX，具备实时运行能力与高保真度的机器人-环境交互模拟，支持用户按需配置挖掘机器人与地形。通过引入时变模型，模拟系统响应的动态变化，增强真实性。在多种场景下评估其性能，包括履带变形、不同地形上的速度表现、与真实机器人的相似性以及整体路径误差，验证了该仿真平台在支持全自主研究方面的有效性。
原文摘要 · Abstract (English)
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build parts of the autonomy without the complexity of experimentation. Traditional excavator simulators are geared towards high fidelity interactions between the joints or between the terrain but do not incorporate other challenges such as perception required for end to end autonomy. A complete simulator should be capable of supporting real time operation while providing high fidelity simulation of the excavator(s), the environment, and their interaction. In this paper we present TERA (Terrain Excavation Robot Autonomy), a simulator geared towards autonomous excavator applications based on Unity3D and AGX that provides the extensibility and scalability required to study full autonomy. It provides the ability to configure the excavator and the environment per the user requirements. We also demonstrate realistic dynamics by incorporating a time-varying model that introduces variations in the system's responses. The simulator is then evaluated with different scenarios such as track deformation, velocities on different terrains, similarity of the system with the real excavator and the overall path error to show the capabilities of the simulation.
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