用数据驱动方法实现月球车实时物理仿真，兼顾视觉真实与地形交互。
Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers
- 基于实验和模拟数据构建回归模型，预测轮壤滑移与沉陷。
- 在0-20度坡度上准确复现动态滑移与沉陷行为，验证结果可靠。
- 适合需要高视觉保真与物理合理性的月球任务仿真场景。
高保真月面模拟器为月球车操作测试与任务规划提供数字环境。然而，现有模拟器通常侧重视觉真实或物理准确性，难以全面还原月面条件。本文通过结合高视觉保真与真实地形交互，填补这一空白。由于直接模拟轮壤相互作用计算成本过高，采用数据驱动方法，利用全车与单轮实验及仿真数据构建回归模型，预测滑移与沉陷。该回归型地形力学模型在平坦地形及最大20度坡度上，准确再现了稳态与动态滑移、沉陷行为，并经实地测试验证。同时，优化了地形变形与车辙可视化效果。该方法支持需物理合理响应与高视觉保真的实时应用。
原文摘要 · Abstract (English)
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their capability to replicate lunar conditions comprehensively. This work addresses that gap by combining high visual fidelity with realistic terrain interaction for a realistic representation of rovers on the lunar surface. Because direct simulation of wheel-soil interactions is computationally expensive, a data-driven approach was adopted, using regression models for slip and sinkage from data collected in both full-rover and single-wheel experiments and simulations. The resulting regression-based terramechanics model accurately reproduced steady-state and dynamic slip, as well as sinkage behavior, on flat terrain and slopes up to 20 degrees, with validation against field test results. Additionally, improvements were made to enhance the realism of terrain deformation and wheel trace visualization. This method supports real-time applications that require physically plausible terrain response alongside high visual fidelity.
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