軟弱地盤上を走行する車両の物理シミュレータのための沈下表現モデル

抄録

A muddy ground often causes a car stack in the small UGV, and interferes the driving in the landslide disasters area.In order to avoid such as the car stuck, we can estimate the state of the ground using a simulation model representing the relationship between the wheel and the ground.Small computers installed in the compact UGV require a simplified simulation model.In order to simplify the model, we examined the relationship between the wheel and the ground by mud ground running test.Based on the verification, we proposed a simulation model combining the Vogt model and the disk model.We evaluated by simulation using that model.This paper describes the proposed model.