Fractal terrain generation for vehicle simulation
by Jeremy J. Dawkins; David M. Bevly; Robert L. Jackson
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 10, No. 1/2, 2012

Abstract: This paper presents a methodology for generating rough terrain surfaces for the purpose of vehicle simulation. A 3D Weierstrass-Mandelbrot function was used to generate terrain surfaces with varying roughness. The terrain surfaces were evaluated using the Root Mean Squared Elevation (RMSE), Power Spectral Density (PSD), and International Roughness Index (IRI). Vehicle simulations were conducted at varying speeds on the generated terrains using Carsim, and the vehicle body motions were studied based on Inertial Measurement Unit (IMU) outputs. It was determined that the Weierstrass-Mandelbrot function is an effective way to create simulated surfaces to match a wide range of terrain roughness.

Online publication date: Wed, 31-Dec-2014

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