Dynamic model of the robotic vehicle motion on a deformable irregular terrain

Abstract

The paper presents a system approach to the estimation of the off-road performance of the wheeled vehicles operating on deformable terrains. A problem-solving approach to the development of the model for the wheeled vehicle-irregular deformable terrain system is presented. The model was used for the simulation of the vehicle motion on different terrains. The presented method for the calculation of the wheel sinkage (calculation of the resistance to the motion of a wheeled vehicle) is based on the Y.S. Ageykin model. The paper presents the analysis of the research results.