Dynamics modeling and simulation of lunar rover on rough terrain

The dynamics model of a Six-Wheeled Articulated lunar rover is researched in this paper. Refer to vehicle dynamics theory, the forces acting on the wheels are analyzed in terms of mechanical principles and configuration features on rough terrain. The nonlinear dynamics model is built up by the Kane method under ideal state. Based on the model, speed tracked control is simulated. The results illustrate the model and control scheme is feasible. The theory foundation is established for the design of tracking and obstacle avoiding controller.