Simulation model of wheel planet rover motion through uneven surface

The paper deals with two-dimensional model of wheeled planetary vehicle motion. The main features of the model are calculation of the vehicle position with high accuracy, interaction between wheels and surface and the possibility of real-time modeling.
The model allows to investigate the geometric and dynamic patency of the wheeled vehicle in order to determine dimensions of the suspension elements and friction coefficients of the wheels to the ground, which provide the necessary conditions for overcoming a given surface relief.