Having smart and autonomous earthmoving in mind, we explore high-performance wheel loading in a simulated environment. This paper introduces a wheel loader simulator that combines contacting 3D multibody dynamics with a hybrid continuum-particle terrain model, supporting realistic digging forces and soil displacements at real-time performance. A total of 270,000 simulations are run with different loading actions, pile slopes, and soil to analyze how they affect the loading performance. The results suggest that the preferred digging actions should preserve and exploit a steep pile slope. High digging speed favors high productivity, while energy-efficient loading requires a lower dig speed.

翻译：具有智能和自主的地球移动思维,我们探索模拟环境中的高性能车轮负荷。 本文推出一个轮式装载机模拟器,将3D多体动态与混合连续粒子地形模型相结合,支持现实的挖掘力和实时运行的土壤迁移。 共有270,000个模拟器用不同的装载动作、堆积坡和土壤来分析它们如何影响装载性能。 结果表明,首选的挖掘行动应该保存和开发一个陡峭的堆叠坡。 高挖掘速度有利于高生产率,而高能效的装载需要更低的挖掘速度。