Real-time interactive dynamic simulation for a lunar rover based on terramechanics

Traction capability experiments of a driving wheel were performed by using a wheel-terrain interaction test-bed. From the test data, an improved bulldozing resistance formula based on slip ratio of wheel was deduced. Meanwhile, according to the formula and terramechanics theories of soft soil, a lunar rover dynamic simulation system was built on Visual C++9.0 platform by using Vortex API. By comparing simulation results and experiments results of the single driving wheel, it was shown that the formula and the dynamic simulation are reliable; the model of the whole lunar rover was also set up and the real-time interactive dynamic simulation is realized through keyboard and mouse.