Physical engine for non-planar autonomous vehicle
Hello all.
I am interesting in simulating an autonomous vehicle. It supposed to travel in non-planar environment and use GPS, IMU and LIDAR sensors for navigation and obstacle avoidance.
I am deliberating about which physical engine is the more suitable for my objectives ODE , BULLET, SIMBODY or DART.
I will be happy, if anyone can share some experience or throw some light about what are the advantages and disadvantages of these engines in general and specifically in relation to my intentions.
Thanks.
(regarding hsu question) My simulation fidelity target is achieving difference of less than 10% between the simulation and the reality. For example, given certain vehicle power, terrain slope and friction coefficients. I interesting that the achieved velocity in the simulation will be in the 10% proximity of the real world experiment results. same rational also goes regarding steering commands and sensors data.
what's INS?
Do you have any modeling fidelity, accuracy or performance targets?
INS means Inertial Navigation System - it a system that combines, usualy by means of calman filter, data from GPS and IMU in order to produce more accurate Localisation data, and also in order to overcame weaknesses of each of them like GPS signal loss and error accumulation of IMU. (in order to simplify my question i changed to IMU).