TERA：面向地形挖掘机器人自主性的仿真环境
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
AI总结：
本文提出基于Unity3D和AGX的挖掘机器人自主性仿真环境TERA，支持实时高保真仿真、可配置挖掘机与环境，并通过时变动力学模型及多场景实验验证其有效性。
摘要：
由于挖掘机作业环境复杂、物理交互复杂以及挖掘机自身操作自由度多，开发挖掘自主性具有挑战性。仿真是一种有用的工具，可以在没有实验复杂性的情况下构建部分自主性。传统挖掘机仿真器主要面向关节之间或地形之间的高保真交互，但未纳入端到端自主性所需的感知等其他挑战。一个完整的仿真器应能够支持实时运行，同时提供挖掘机、环境及其交互的高保真仿真。在本文中，我们提出了TERA（Terrain Excavation Robot Autonomy，地形挖掘机器人自主性），这是一个基于Unity3D和AGX、面向自主挖掘机应用的仿真器，提供了研究完全自主性所需的可扩展性和可伸缩性。它能够根据用户需求配置挖掘机和环境。我们还通过引入一个时变模型来展示真实动力学，该模型在系统响应中引入变化。随后，使用不同场景对该仿真器进行评估，例如履带变形、不同地形上的速度、系统与真实挖掘机的相似性以及总体路径误差，以展示仿真的能力。
英文摘要：
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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