Experimental assessment of wheel-terrain interaction model suitability and applicability

Abstract

Lots of models have been proposed to address wheel-terrain interaction (WTI) problem, however, there is no clear boundary among these models’ applicable range. In this paper, four classic models have been compared and evaluated. Convergence factor is chosen as the indicator to evaluate each models’ suitability and applicability, thus on different terrain we could select the most suitable WTI model, which are also discussed. The experimental results demonstrate that the evaluation methods could quantify the difference between the classical wheel model and practical data.