Real-Time Simulation of Mining and Earthmoving Operations: A Level Set-Based Model for Tool-Induced Terrain Deformations

摘要: In this work we present a novel level set-based model for the real-time simulation of soil deformations. A set defined by signed distance function and sampled in regular 3D grid represents tracks volume under deformation. Moving away from classical 2.5D heightfield representations to full representation allows improved tracking cutting tool operations near-vertical or vertical faces. The proposed furthermore provides versatile mathematical platform modeling additional effects such as slip, does not suffer sampling limitations commonly used heightfields. Cutting forces applied are simulated via formulation based on Fundamental Equation Earthmoving, modified support inclined surfaces transient states motion. Discretisation 2D force with respect surface capturing irregular terrain shapes blades buckets. surcharge created during is tracked form particles included failure computation. We make use an adaptive, hybrid particle-based deformation scheme, which be real-time.