Chapter 50 — Modeling and Control of Robots on Rough Terrain

Mobility prediction of rovers on soft terrain

This video is an animated dynamic simulation of a vehicle traveling on sandy terrain. The simulator carefully considers mechanical interactions based on relationships between the wheel and the terrain and between the tool and the terrain. In particular, a discrete-element method is employed in order to represent the tool-sand interactions.
Daniel Holz, Ali Azimi, Marek Teichmann, Jozsef Kavecses