Physical modeling and dynamic simulation of off-road vehicles and natural environments

摘要

In the field of robotics, some vehicles work in natural sites. Such robots have to cope with a geometrically unstable environmental and thus have a complex dynamic behavior. Therefore we need a physical model of the robot-environment system and of a sufficiently realistic physical simulation. We present models of various types of motor vehicles and loose soils. Results of dynamic simulations of these vehicles are also presented.