The code of paper "CLVSim: A comprehensive framework for crewed lunar vehicle simulation—Modeling and applications".
Crewed lunar vehicle simulation (CLVSim) is a MBD-FEM-SPH co-simulation framework to simulate crewed lunar vehicle in off-road environment based on Project Chrono, including SPH soft terrain, FEM flexible wheel, vehicle suspension, motor, and driver. Each subsystem was modelled from LRV engineering drawings and benchmarked by some specific tests.
A high-fidelity instance of CLVSim was modelled and validated based on Apollo Lunar Rover Vehicle (LRV) and experimental data from Apollo operation handbook released by NASA. LRV was modelled and textured in this project.
- Coupled MBD–SPH–FEM simulation framework
- Mechanical components modeled directly from LRV engineering drawings
- Separate benchmark of soft terrain, flexible wheels, suspension, and motor against experimental data
- Calibration of soft-terrain model via single-wheel simulation and experimental testing
- Whole vehicle benchmarked via low-gravity simulation and experimental testing
- Independent drive for each of the four wheels, powered by four dedicated motors
- Motor output characterized using multi‑layer perceptron (MLP) model
- Support for high‑quality rendering
The rendered simulation by Blender for LRV rovering on straight rugged terrain on Moon:
Straight.mp4
It can also import any terrain, such as a rugged lunar surface with planned path. The rendered simulation with surface reconstruction using OpenVDB or splashsurf:
CLVSim_VDB.mp4
- install Project Chrono, VSG, FSI, MKL modules are required
- build CLVSim (Copy .dll files from Project Chrono)
- unzip data.7z and put as build/data