Simulation-Based Optimization of High-Performance Wheel Loading

@article{Aoshima2021SimulationBasedOO,
  title={Simulation-Based Optimization of High-Performance Wheel Loading},
  author={Kojiro Aoshima and Martin Servin and Eddie Wadbro},
  journal={ArXiv},
  year={2021},
  volume={abs/2107.14615}
}
Having smart and autonomous earthmoving in mind, we explore high-performance wheel loading in a simulated environment. This paper introduces a wheel loader simulator that combines contacting 3D multibody dynamics with a hybrid continuum-particle terrain model, supporting realistic digging forces and soil displacements at real-time performance. A total of 270,000 simulations are run with different loading actions, pile slopes, and soil to analyze how they affect the loading performance. The… 

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