Dynamic Modeling and Simulation of Driving Control for Wheeled Mobile Robot on Sand

Abstract

The problem of excessive sinkage of mobile robot wheels moving on sand was studied. Based on the definition of the slip ratio of wheels, dynamical model of the robot was established, which incorporated the terramechanics theory and calibrated the parameters of soil according to the theory of muti-pass performance of rigid driving wheels. The sliding mode controller was designed for this dynamic model, considering the non-linear systems with uncertainties. Simulation results show that the controller effectively keeps the slip rate of the driving wheel tracking the desired value and avoids the excessive spin and sink of the driving wheel, therefore it lays the foundation for the normal operating of the mobile robot.