Velocity Kinematics Modeling and Simulation for a Lunar Rover

This paper establishes the velocity kinematics model of a six-wheel differentially driven lunar rover by applying matrix coordinate transformation in 3D environments, which can express the lunar rover's kinematics relations under complex terrain conditions. Based on that, the forward and inverse kinematics equations are obtained, which provide a theoretical basis for trajectory tracking control. Finally, the velocity kinematics model is applied to a prototype rover JLUIV-6 in principle and verified by simulation.