Real-time ground dynamics simulation method of a wheeled mobile robot in virtual terrain

Though simulation is pivotal to robot development, there are few dedicated choices for those wishing to perform realistic real-time simulations of ground robot. This paper deduces a completed ground dynamic model and provides an effective method for real-time simulation of mobile robot cruising in complex terrain based on commercial-off-the-shelf (COTS) hardware and software. The rigorous physics-based robot and robot-terrain interaction model in conjunction with high-quality, multimedia visualization techniques form an intuitive and accurate engineering tool which enables analysis and testing of robot dynamics and terrain interaction in real-time. The simulation method will implement a controlled, repeatable test bed for designing a wheeled mobile robot, analyzing its behavior, and researching advanced control strategy.