Evaluation of Wheeled Robot Mobility Limits on Unstructured Terrain
DOI:
https://doi.org/10.3849/aimt.02079Keywords:
wheeled mobile robot, deformable terrain, mobility limitation, digital twin, terrain-adaptive navigation, Gazebo simulationAbstract
This paper examines the mobility limits of a wheeled mobile robot on unstructured and deformable terrain, where surface variations affect traction and navigation. A digital twin of the robot was developed in ROS 2 and Gazebo Classic using real geometry, drive parameters, and sensor specifications. Simulations on cohesive mud, loose sand, and inclined surfaces analyzed wheel-terrain interaction. Robot motion was assessed via wheel odometry, IMU, and GNSS to measure slip and velocity errors. Results were validated with field tests on sandy terrain, showing consistent trends in traction loss, slip, and sensor degradation. Findings emphasize terrain impact on mobility and the need for terrain-aware, multi-sensor evaluation frameworks.
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