Modeling, Control, and Wheel-Terrain Interaction Dynamics of the UGV Argo J5

This paper presents detailed analysis, modeling, and controller design of the Skid Steering Mobile Robot (SSMR) Argo J5 with a custom-built landing platform, which also considers wheel-terrain interaction for control purposes. Terramechanics theory and the Argo J5 kinetics are combined to analyze the wheel-terrain interaction for different types of terrain. A PD controller is, then, designed to demonstrate tracking capabilities of the Argo J5. The main contribution of the modeling approach is adding a vertical load on each wheel to obtain the wheel's entry angle with respect to the terrain. Shear displacement is derived from knowing the point's position on each wheel in 3D space. The Argo J5 model and controller are tested in a MATLAB/Simulink environment by using the real Argo J5 parameter values. Obtained results illustrate Argo J5 velocity, wheel rolling resistance, wheel turning moment resistance, and shear stress on different terrains.