全虚拟无人车辆自主导航仿真系统的研究与实现

以履带式车辆为研究对象，建立了相应的车辆运动学模型和动力学模型，并采用虚拟现实技术，用一辆虚拟车辆在虚拟环境中的驾驶性能仿真了无人车辆在实际环境中的驾驶性能，使操作者能身临其境地观察到无人车辆的各种运动状态。该系统逼真、形象，可以方便地进行诸如路径规划和路径跟踪等各种高层智能操作的仿真，并可以对操作结果做出评价。

Research and Accomplishment of Auto-navigating Simulation System for Virtual Unmanned Vehicles

With the tracklayer as the research object, this paper established the relevant kinematics and dynamics models of the vehicle. And based on the virtual reality technology, it was simulated the driving performance of unmanned vehicles in real environment with that of the virtual tracklayer in virtual environment, which enabled the operator to observe a variety of movement states of unmanned vehicles as if he was personally on the scene. The system is tested to be realistic and it can conveniently simulate and evaluate a variety of high-level intelligent operations such as path planning and path tracking.