S. Benatti, D. Negrut
University of Wisconsin Madison,
Keywords: Simulation, Off-Road, Autonomous Vehicles, Simulation \and Terramechanics
Summary:Project Chrono is a multi-phyisics simulation library developed by UW-Madison in conjunction with University of Parma, Italy. It is capable of simulating highly accurate vehicle dynamics, complex interactions between tires and deformable soil and distributed vehicle simulation to investigate the interplay of vehicle convoys. In this work we provide an overview of these capabilities and the results obtained in the context of offroad mobility, machine-ground interaction, terramechanics and multi-agent autonomy.