To design a control system, it is first necessary to develop the model of the system to be controlled. This model is useful for studying the system’s properties, designing the controller, and performing a preliminary validation of the control system through simulation.

In the case of robots and agricultural machines, the model can also be used to verify the results of different approaches to the mechanical design of the system. To achieve this and validate the control system in a realistic context, an accurate soil model is also required.

This thesis aims to extend the model of an Agilex tracked robot, developed in a previous thesis, by including an accurate soil model. The model will then be experimentally validated by comparing the behavior of the simulated robot with that of a real platform.

This work is suitable for students from both engineering and non-engineering backgrounds and can be undertaken by either a single student or a group of two students.

Faculty advisor: Prof. Gianni Ferretti – gianni.ferretti@polimi.it