An adapted Burckhardt tire model for off-road vehicle applications

•The adaptation of the Burckhardt tire model to off-road applications.•The structural analysis of the shape coefficients involved in the proposed tire model.•An estimation methodology for the proposed off-road tire model coefficients.•The development of a virtual flat-trac for data acquisition using Chrono Simulator.•The obtainment of a linear off-road tire model for control applications.