Extended terramechanics model for machine–soil interaction: Representation of change in the ground shape and property via cellular automata

Abstract

Terramechanics, as an interdisciplinary field, focuses on the interaction between the ground and vehicles. Terramechanics concepts can be used to realize the design of underbodies and pass-planning of off-road vehicles, among other applications. However, conventional semi-empirical terramechanics models cannot accurately evaluate the terrain surface deformation associated with the interaction between the solid object and ground. Therefore, this article proposes an extended terramechanics model, which incorporates the terrain surface deformation mechanism based on cellular automata. First, to examine the effectiveness of the proposed model to capture variations in the terrain surface deformation and draft force, an analysis of a vertical plate drag test was conducted based on the proposed model. Next, a single-wheel traveling analysis was performed. The experimentally obtained drawbar-pull and sinkage could be reasonably simulated, which cannot be easily realized using conventional methods.