Predicting the impact of wheel passage on terrain unevenness

This article presents a novel approach to accurately predict how terrain unevenness is modified by the passage of a wheel under varying operating conditions. The proposed method uses a moving average filter to model the deformation of the soft soil caused by the rolling wheel. The window length of the filter is determined by key terrain parameters as well as the geometry of the wheel. The method's accuracy and robustness are validated through a series of comparisons with a high-fidelity model developed in the multibody simulation environment MSC Adams, along with an experiment conducted in a real agricultural scenario. This model incorporates classical terramechanics theory to simulate the complex interactions between the wheel and the terrain. Key findings indicate that the moving average filter approach not only simplifies the computational process but also maintains a high degree of accuracy in predicting terrain deformation across a range of operating conditions. This method offers significant potential for improving the design and optimization of off-road vehicles, agricultural machinery, and planetary rovers by providing a more efficient tool to assess terrain interaction dynamics. In general, this study lays the foundations for advances in understanding and predicting terrain behavior under the influence of rolling wheels, contributing to the broader field of vehicle-terrain interaction research.