Testing the Tractor Behavior Simulation with Experimental Driving of a Model Tractor

In this study, we have performed an experimental driving of model tractors, and through a comparative analysis between the result and the results from previously developed behavior simulation programs for the tractors, we have examined the agreement of the simulation program with the real-world situations. The main results are as below. 1. As the slope became steeper, the results from the experiment show that the pitching angular velocity decreased when climbing over the bump but there was no change in the simulation. 2. As for the lateral slant, the simulation, which unlike the results of the experiment, showed that the pitching angular velocity was smaller when the wheel on the lower side climbed over the bump and that the rolling angular velocity registered similar tendencies, which agrees with the prediction that side rollover occurs more easily when passing an obstacle on the higher side. 3. In the condition in which the two wheels climb over the bump at the same time, the simulation results were similar in all cases, whereas the experimental results showed bigger pitching angular velocity bigger when going uphill. 4. In all experimental conditions, the rolling angular velocity was measured to be bigger when getting off the bump than when getting on it, but the simulation results showed opposite results. Overall, the simulation results showed similar results as those of the model tractor driving experiment, which proves the usefulness of the simulation. However, if the simulation program developed in this research is improved by further research having more careful consideration of the differences in the results, it would be possible to develop a tractor behavior simulation program that is more suited to the real-world situation.