Modeling the Movements of Mobile Robots Designed for Locomotion over the Undeveloped Terrains

Abstract

Objectives: The relevance of the study is determined by the demand for all-terrain transport vehicles for investigating various celestial bodies. In this regard, the article considers the issues of modeling all-terrain transportation robot locomotion, for example, lunar rovers and Mars rovers over complex topography and sandy soils. Method: Methodological approaches for solving this problem emerged in the last century in connection with the creation of self-propelled chassis of Soviet lunar rovers and Mars rover mockups in the USSR. Modern software allows getting more informative simulation results directly in the process of computer-aided design of new machines. Findings: The article presents the development of the model of interaction between the wheel and the supporting plane in the object-oriented modeling environment whose results coincide with the experimental and operational test data of planetary rovers. In particular, it is possible to visualize the motion of all-wheel drive transportation robot models with combined wheel-walking propulsor. Walking mechanisms of such a propulsor are also used to perform adaptive suspension functions when moving in the wheel locomotion mode. Improvements: Materials of the article are of practical value for experts designing mobile robots, planetary rovers and other wheeled vehicles who use the simulation results to develop design and control systems. Keywords: Locomotion System, Mathematical Model, Mobile Robot, Object-Oriented Modeling, Planetary Rover, WheelWalking Drive