Simulating Multiple Vehicles

[Faisal Hafizh]

Greetings,

I'm trying to simulate AI controlled vehicles that roam around. I found that the limit of vehicles running at the same time with acceptable performance is about 2 to 5 vehicles, depending on the suspension model used. For instance, vehicle with double wishbone model is significantly more demanding compared to a leafspring axle one. 

Ideally, I would like to have at least 10 of them at the same time. What's the best approach in doing so? Is it even possible? 

I tested this with TMeasy tire in a NSC collision system and 0.002 step size. I found that step size to be the sweet spot for my case. Anything higher will make the suspension joints unstable. 

Another approach I could probably do is to use a simple body and setting its position and rotation manually, but if possible I would like to use actual vehicle configuration, as in the wheels support the chassis and rotate accordingly along the terrain, not just floating.

[Dan Negrut]

Faisal - One possible path forward is to use Synchrono.

Here’s a paper that describes it: https://par.nsf.gov/servlets/purl/10276897.

Dan

---------------------------------------------

Bernard A. and Frances M. Weideman Professor

NVIDIA CUDA Fellow

Department of Mechanical Engineering

Department of Computer Science

University of Wisconsin - Madison

4150ME, 1513 University Avenue

Madison, WI 53706-1572

608 772 0914

http://sbel.wisc.edu/

http://projectchrono.org/

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[Faisal Hafizh]

Hi Dan,

Thanks for the reply, I was not aware of the Synchrono module. I will look further into it. It might be what I'm looking for. 

Although the project failed to build through Visual Studio. The errors are linked with the flatbuffers submodule, maybe I did not initialize it properly. The documentation did not elaborate on the details. Any suggestions?

[Bocheng Zou]

Hi Faisal,

Could you please post the detailed error message you see during the compilation process? It will help us to identify the potential issues. 

Best,

Bocheng Zou

To view this discussion visit https://groups.google.com/d/msgid/projectchrono/dcb29a17-6095-42d7-b7ef-7ab48d3375c1n%40googlegroups.com.

[Faisal Hafizh]

I have configured and generated the project through CMake. But when I try to build in Visual Studio it failed to build where the error says:

chrono\src\chrono_synchrono\flatbuffer\message\SynFlatBuffers_generated.h: error C2672: 'flatbuffers::Table::VerifyField': no matching overloaded function found

and there are 14 instances of them. I'm guessing the flatbuffers library was not initialized properly.

[Bocheng Zou]

Hi Faisal,

Thank you for providing the information. Are you using FlatBuffers as a submodule under "src/chrono_thirdparty/flatbuffers"  or using a local copy on your system?

Best,

Bocheng Zou

To view this discussion visit https://groups.google.com/d/msgid/projectchrono/ed659ded-199d-4ed9-be80-875a3f3b1f9bn%40googlegroups.com.

[Faisal Hafizh]

Hi Bocheng,

I assumed it would be the submodule under chrono_thirdparty. At first, the flatbuffers folder was empty and so I cloned the repository from github to that folder. Is there maybe an extra step I'm missing?

[Bocheng Zou]

Hi Faisal,

Thanks for getting back to me. That folder shouldn't be populated by manually cloning from the https://github.com/google/flatbuffers.git repo - we include FlatBuffers as a git submodule.

After cloning a fresh projectchrono/chrono repo, please run:

"git submodule init" and "git submodule update"

Those commands will check out the specific FlatBuffers commit we pin and automatically place it under "src/chrono_thirdparty/flatbuffers".

Best,

Bocheng Zou

To view this discussion visit https://groups.google.com/d/msgid/projectchrono/ab6acb08-9dc5-42c1-994a-9dc55e793751n%40googlegroups.com.