PROCEEDINGS ARTICLE | April 30, 2009
Proc. SPIE. 7332, Unmanned Systems Technology XI
KEYWORDS: Human-machine interfaces, Visualization, Sensors, Video, Computer simulations, Monte Carlo methods, Multimedia, Virtual reality, Device simulation, Unmanned ground vehicles
It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few
dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles
(UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer
Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing
(HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE
HPC research is a real-time desktop simulation application under development by the authors that provides a portal into
the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This
VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables
analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to
interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages
rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia
visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and
customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations.
ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques
from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf
(COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several
initial applications of the system.
