Modeling, Simulation, Multiobjective Optimization and Mechatronic Design of Wheel-Terrain Parameters for Better Tractability of an Autonomous Vehicle by Force Balancing Method

Stability analysis is a crucial aspect of autonomous off-road vehicle research, particularly in unknown environments. This study introduces a method for evaluating and predicting vehicle stability, based on the hypothesis that maximum stability and minimal tip-over risk are achieved when the total contact forces on the left and right wheels are equal. This condition is typically observed when roll and pitch angles are zero. The research validates this concept by analyzing orthogonal contact forces at the wheel-terrain interface, derived from the overall force distribution across the vehicle body.A sinusoidal terrain model considered as rough and uneven terrain is employed, and a multi-objective optimization problem is formulated and solved in MATLAB to minimize the difference between the left and right side contact force amplitudes. Simulation results indicate that the vehicle's tip-over tendency can be minimized by equalizing the total forces on both sides using variable force distributions by using control system.