基于物理的地形模拟模型，可高效仿真复杂越野场景。
A Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation
- 采用SPH框架构建物理驱动的连续体模型，支持刚柔体交互
- 10公里长地形含1亿粒子，近实时运行，精度通过3项实测验证
- 开源免费，适合机器人越野与行星探测仿真研究
本文介绍Chrono连续表示模型（Chrono::CRM），一种通用、可扩展且高效的地力学仿真解决方案。基于Chrono的光滑粒子流体动力学（SPH）框架，该模型突破了贝克尔-王/贾诺西-哈纳莫托等半经验方法的局限，能够处理挖掘、整平，以及与可变形轮和复杂履齿结构的相互作用等复杂任务。模型支持刚性和柔性工具在Chrono动力学引擎下的地形交互。通过三项物理实验数据验证，包括NASA MGRU3火星车测试；并与高保真离散元法（DEM）模拟的月壤表面作业机器人（RASSOR）挖掘场景对比。得益于GPU加速，其计算效率接近半经验方法水平。通过‘活动域’实现，可处理长达10公里、含1亿个SPH粒子的地形，达到近实时性能，使大规模高保真非公路仿真成为可能。作为Chrono套件的一部分，该模型开源，采用BSD-3许可。本文所有模型与仿真代码均在公开GitHub仓库中提供，供可复现性研究与后续探索。
原文摘要 · Abstract (English)
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's Smoothed Particle Hydrodynamics (SPH) framework, Chrono::CRM moves beyond semi-empirical terramechanics approaches, e.g., Bekker-Wong/Janosi-Hanamoto, to provide a physics-based model able to address complex tasks such as digging, grading, as well as interaction with deformable wheels and complex grouser/lug patterns. The terramechanics model is versatile in that it allows the terrain to interact with both rigid and flexible implements simulated via the Chrono dynamics engine. We validate Chrono::CRM against experimental data from three physical tests, including one involving NASA's MGRU3 rover. In addition, the simulator is benchmarked against a high-fidelity Discrete Element Method (DEM) simulation of a digging scenario involving the Regolith Advanced Surface Systems Operations Robot (RASSOR). Being GPU-accelerated, Chrono::CRM achieves computational efficiency comparable to that of semi-empirical simulation approaches for terramechanics problems. Through an ``active domains'' implementation, Chrono::CRM can handle terrain stretches up to 10 km long with 100 million SPH particles at near interactive rates, making high-fidelity off-road simulations at large scales feasible. As a component of the Chrono package, the CRM model is open source and released under a BSD-3 license. All models and simulations used in this contribution are available in a public GitHub repository for reproducibility studies and further research.
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