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A Wheel-terrain Interaction Model Based on SimMechanics

Zhan Hui Yan

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Abstract

The simulation is an effective way to improve the mobile robot design process. A wheel-terrain interaction model based on SimMechanics in environment Matlab/Simulink is presented in this paper, and applied to simulate two kinds of motion when wheel on the ground, which make it possible to simulate mobile robot under a complex terrain condition with toolbox SimMechanics. This model can not be only used to simulate wheel on the ground, but also can provide the reference information for further studies.

About this research paper

What this paper is about

The simulation is an effective way to improve the mobile robot design process. A wheel-terrain interaction model based on SimMechanics in environment Matlab/Simulink is presented in this paper, and applied to simulate two kinds of motion when wheel on the ground, which make it possible to simulate mobile robot under a complex terrain condition with toolbox SimMechanics. This model can not be only used to simulate wheel on the ground, but also can provide the reference information for further studies.

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Key contribution

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Method / approach

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Available abstract

The simulation is an effective way to improve the mobile robot design process. A wheel-terrain interaction model based on SimMechanics in environment Matlab/Simulink is presented in this paper, and applied to simulate two kinds of motion when wheel on the ground, which make it possible to simulate mobile robot under a complex terrain condition with toolbox SimMechanics. This model can not be only used to simulate wheel on the ground, but also can provide the reference information for further studies.

Key concepts: Terrain, Toolbox, Computer science, MATLAB, Process (computing), Simulation, Mobile robot, Robot

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