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We present an approach in which we use simulation to capture the two-way coupling between the dynamics of a vehicle and that of a fluid that sloshes in a tank attached to the vehicle. The simulation is carried out in and builds on support provided by two modules: Chrono::FSI (Fluid-Solid Interaction) and Chrono::Vehicle. The dynamics of the fluid phase is governed by the mass and momentum (Navier-Stokes) equations, which are discretized in space via a Lagrangian approach called Smoothed Particle Hydrodynamics. The vehicle dynamics is the solution of a set of differential algebraic equations of motion. All equations are discretized in time via a half-implicit symplectic Euler method. This solution approach is general - it allows for fully three dimensional (3D) motion and nonlinear transients. We demonstrate the solution in conjunction with the simulation of a vehicle model that performs a constant radius turn and double lane change maneuver.

Vehicle navigation in off-road environments is challenging due to terrain uncertainty. Various approaches that account for factors such as terrain trafficability, vehicle dynamics, and energy utilization have been investigated. However, these are not sufficient to ensure safe navigation of optionally manned ground vehicles that are prone to detection using thermal infrared (IR) seekers in combat missions. This work is directed towards the development of a vehicle IR signature aware navigation stack comprised of global and local planner modules to realize safe navigation for optionally manned ground vehicles. The global planner used A* search heuristics designed to find the optimal path that minimizes the vehicle thermal signature metric on the map of terrain’s apparent temperature. The local planner used a model-predictive control (MPC) algorithm to achieve integrated motion planning and control of the vehicle to follow the path waypoints provided by the global planner.