Dynamics modeling and simulation of a lunar rover with six cylindrical wheels

In order to implement free motion control with obstacle avoidance for a lunar rover, dynamics modeling and simulation for a rover with six cylindrical wheels were completed. The forces acting on the wheels were analyzed in terms of the mechanical principles and configuration features of six wheeled rovers. Simplified formulas for calculations were derived according to vehicle dynamics theory. The dynamic equations of the rover were built up by the Kane method. A computed torque control scheme for the wheels was put forward based on the dynamics model. The simulation analyses of the dynamics model and the control project were carried out using MATLAB/Simulink. The research results illustrated that a control scheme computing wheel torque based on the dynamics model is feasible, and it can make a lunar rover track a desired path. The parameters of the controller can be chosen according to the accuracy required when following a path, and this meets not only positional precision but also velocity precision.