Contact angle estimation based on kinematics modeling analyses for rover with caster and camber

A general approach to the kinematics modeling and analyses of articulated all-terrain rovers traversing uneven terrain is describes in this paper. In addition, caster and camber are taken into consideration. Based on a four wheel rover, the model is derived for full 6 DOF motion, enabling movements in the, and directions, as well as rotations of pitch, roll and yaw. Differential kinematics is derived for the individual wheel motions in contract with the terrain. Then, the resulting equation of a single wheel motion is derived form composite equation for the rover motion. Navigation and actuation kinematics model is given. During this process, slipping and wheel-terrain contract angle is considered. Based on the kinematics development, an experimental method and simulation approach is given.