Determination of wheel vehicle spatial position

V. A. Kartashev, T. Jiang


Abstract: The paper describes an algorithm for determining the position in space of a multi-wheeled vehicle without rotary wheels when it is moving on a hard uneven surface. The kinematic scheme of the landing gear is similar to those used in modern research space vehicles. To determine the position, it is enough to set the point of contact with the surface of the first wheel and the direction of its movement. The angles of inclination of the body and the contact points of all wheels are found by solving a geometric problem.
The algorithm can be used in numerical simulation of the movement of a wheeled vehicle on a hard uneven surface and in virtual reality systems with a high degree of realism.

Keywords: planetary research vehicle, virtual reality, simulating of motion, wheel vehicle.