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A Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation

H. Unjhawala,Luning Bakke,Harry Zhang,Michael Taylor,Ganesh Arivoli,R. Serban,D. Negrut

Published 2025 in arXiv.org

ABSTRACT

This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's Smoothed Particle Hydrodynamics (SPH) framework, Chrono::CRM moves beyond semi-empirical terramechanics approaches, e.g., Bekker-Wong/Janosi-Hanamoto, to provide a physics-based model able to address complex tasks such as digging, grading, as well as interaction with deformable wheels and complex grouser/lug patterns. The terramechanics model is versatile in that it allows the terrain to interact with both rigid and flexible implements simulated via the Chrono dynamics engine. We validate Chrono::CRM against experimental data from three physical tests, including one involving NASA's MGRU3 rover. In addition, the simulator is benchmarked against a high-fidelity Discrete Element Method (DEM) simulation of a digging scenario involving the Regolith Advanced Surface Systems Operations Robot (RASSOR). Being GPU-accelerated, Chrono::CRM achieves computational efficiency comparable to that of semi-empirical simulation approaches for terramechanics problems. Through an ``active domains''implementation, Chrono::CRM can handle terrain stretches up to 10 km long with 100 million SPH particles at near interactive rates, making high-fidelity off-road simulations at large scales feasible. As a component of the Chrono package, the CRM model is open source and released under a BSD-3 license. All models and simulations used in this contribution are available in a public GitHub repository for reproducibility studies and further research.

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