Velocity Kinematics Modeling and Simulation for a Lunar Rover

This paper establishes the velocity kinematics model of a six-wheel differentially driven lunar rover by applying matrix coordinate transformation in 3D environments, which can express the lunar rover´s kinematics relations under complex terrain conditions. Based on that, the forward and inverse kinematics equations are obtained, which provide a theoretical basis for trajectory tracking control. Finally, the velocity kinematics model is applied to a prototype rover JLUIV-6 in principle and verified by simulation.