虚拟现实的履带式装甲车辆运动控制实验研究

Experimental Research on Motion Control of Tracked Armored Vehicles in Virtual Reality

满足履带式装甲车辆运动控制虚拟仿真系统沉浸感和实时性要求,建立了车辆滑动模型,分析其运动特点,结合驾驶员操纵规律与驾驶经验,设计了基于预瞄-跟随理论的履带式装甲车辆跟随折线型轨迹的运动控制新方法,并借助Creator与Vega Prime三维建模联合仿真,实现了履带式装甲车辆虚拟场景下的自主运动;实验结果表明:履带式装甲车辆有效避开障碍物到达预期目标位置,证明了此种控制方法的有效性,这为履带式装甲车辆运动控制的实现和驾驶员的驾驶培训提供了方法借鉴。

In order to study the motion control over tracked armored vehicles and meet the immersive and real-time requirements in virtual simulation systems,the sliding model of the vehicle was established and its moving characteristics were analyzed.Based on the preview-following theory,the control method of following the folding line was designed in combination with the manipulating rules and the drivers’driving experience.And with the combination of Creator and Vega Prime three-dimensional modeling and simulation software,the autonomous movement of tracked armored vehicle was realized in the virtual environment.The experimental results showed that the tracked armored vehicle could effectively avoid the obstacles to reach the expected target position,which proved the effectiveness of this control method.And this also provided a reference for the realization of the motion control over tracked armored vehicles and the driver’s driving training.