Dynamics and control study of rover with six wheels independently driven

In order to implement motion control of a rover dynamics and control, a rover with each wheel independently driven was studied. In terms of mechanism constituents and configuration features of a rover with six wheels, motion constraint equations of wheels were built up. According to the features of nonholonomic system, Lawes equations of the rover were set up. The wheel compute torque control scheme based on models was put forward. The simulation analysis of the control scheme which the rover tracks a straight line and a circle was carried out by applying MATLAB/Simulink. The research results validate the feasibility of the project. The study work provides a theory basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.