Four-wheel Rover’s Motion Control and Modeling Method

Abstract

The control and modeling problem of four-wheel rover is studied under lunar soft soil and low gravity. The Newton - Euler dynamic model of the four-wheel rover is established by constructing the D-H coordinate system of the rover and gets the value of the wheel angular velocity, and the steering angle is determined by the method of non-holonomic constraints. A closed-loop motion control system for linear velocity and angular velocity feedback regulation of rover is designed and realized by combining the model of wheel terrain mechanics. The experimental results show that the dynamic characteristics of the rover in the process of cruise and the designed motion control system can effectively reduce the disturbance of the external terrain environment and realize the tracking control of the rover linear velocity and angular velocity.