Interactive Simulation Framework for Analysing Tracked Mobile Robots in Real-Time

Chow Yeh Low; Vimal Rau Aparow; Hermawan Nugroho

doi:10.15282/ijame.22.1.2025.15.0932

Authors

Chow Yeh Low Electrical and Electronic Engineering Department, University of Nottingham Malaysia, 43500 Semenyih, Malaysia
Vimal Rau Aparow Electrical and Electronic Engineering Department, University of Nottingham Malaysia, 43500 Semenyih, Malaysia
Hermawan Nugroho Electrical and Electronic Engineering Department, University of Nottingham Malaysia, 43500 Semenyih, Malaysia

DOI:

https://doi.org/10.15282/ijame.22.1.2025.15.0932

Keywords:

Hardware-in-the-loop, Skid-steering, Tracked mobile robot, Unreal engine, Real-time simulation

Abstract

Tracked mobile robots play a crucial role in navigating complex terrains for urban search and rescue and military applications, yet verifying their performance in diverse environments remains a challenge. This study introduces an interactive simulation framework using a Hardware-in-the-Loop (HIL) platform to analyse real-time performance, focusing on critical capabilities such as skid-steering, slope handling, and obstacle climbing. By integrating detailed kinematic models with a virtual environment powered by Unreal Engine, the framework delivers precise simulations that closely replicate real-world scenarios. Validation tests revealed a maximum position error of ±8.5838 cm, with mean squared errors of 0.1854 m for the x-coordinate, 0.1486 m for the y-coordinate, and 0.801 radians for the yaw angle in straight-line navigation. Despite higher errors in complex manoeuvers, the results demonstrate the framework's effectiveness in bridging simulation and real-world performance, providing a reliable tool for the design and testing of mobile robots in challenging environments.

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