Friction Modelling With Slip For Planetary Exploration Rovers

One of the more complex challenges to be overcome when modelling the dynamics of any mobile platform is the representation of the forces of friction. In this work, a verified friction model for a four-wheel planetary rover with skid steering is set out. The model is implemented in multiple simulation scenarios to cover the full scope of the rover's mobility (forward motion, turning, braking, and accelerating) in both 2D and 3D environments.