A new environment for distributed multiple vehicles dynamics control and simulation

Although there are many simulation softwares, the 3D multi-vehicle field needs further study. This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. This environment simulates ground wheeled vehicles and their environment. Multi vehicle study can be done adding the vehicle mathematical model and the 3D graphical model. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3D primitive and/or pre-built 3D objects loaded from file. Since the software is made up of a set of multi-treading object-oriented Java classes, there are many advantages as portability, efficiency and distribution. Communication between two or more cooperating entities is implemented using efficient Network Manager and both TCP and UDP protocols.