Explicite model of a wheel-soil interaction over a rough terrain using terramechanics low

Abstract

Modeling the interaction of a mobile robot’s wheels with the ground, is a key element in evaluating its performance. In this paper, to evaluate vehicle performance in a simulation environment, research studies were conducted to capture the physics in a mathematical framework. Vehicle performance can be directly correlated to forces and moments between the tire and the ground, and indirectly related to terrain variations such as sinking. The main objective of this paper is to propose a mathematical model describing the dynamic behavior of the robot wheel navigating a deformable soil. This model is validated using experimental data obtained from a test bench of a lunar wheel.