Year: 2023
Type: preprint
Abstract: Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and validation in a controlled environment. This testing process would enable navigation systems to be developed and optimized in simulation with direct transferability to real-world scenarios. The multi-physics simulation engine Chrono allows for the creation of scenarios that may be difficult or dangerous to replicate in the field, such as extreme weather or terrain conditions. Autonomy Research Testbed (ART), a specialized robotics algorithm testbed, is operated in conjunction with Chrono to develop an MPC control policy as well as an EKF state estimator. This platform enables users to easily integrate custom algorithms in the autonomy stack. This model is initially developed and used in simulation and then tested on a twin vehicle model in reality, to demonstrate the transferability between simulation and reality (also known as Sim2Real).
Source: arXiv (Cornell University)
Authors: Zhang, Harry, Caldararu, Stefan, Mahajan, Ishaan, Chatterjee, Shouvik, Hansen, Thomas, Dashora, Abhiraj, Ashokkumar, Sriram, Fang, Luning, Xu, Xiangru, He, Shen, Negrut, Dan
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Awards: Collaborative Research: Frameworks: Simulating Autonomous Agents and the Human-Autonomous Agent Interaction, Collaborative Research: Elements:Software:NSCI: Chrono - An Open-Source Simulation Platform for Computational Dynamics Problems, G7473794142, CPS: TTP Option: Medium: Identifying, Characterizing, and Shaping Multi-Scale Cyber-Human Interactions in Mixed Autonomous/Conventional Vehicle Traffic
OpenAlex ID: W4366460743