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本文研究了四轮结构汽车的车体动力学模型，包括运动模型、方向系统模型和速度系统模型，根据室外移动机器人的研究的特点，设计并实现了室外移动机器人仿真试验系统。该系统在设计上完全采用真实的接口，车体模型仿真真实车辆，使得上层算法程序能够“透明”地控制仿真车体而不作特别的区分。该系统采用面向对象的设计方法，有较好的扩充性，能够适用于各种车体模型。实验证明，该系统仿真结果可信度高，与实际结果吻合度好，做到了实时仿真，为移动机器人的研究提供了灵活方便的试验平台，起到了积极的作用。
In this paper, the vehicle body dynamics model of four-wheeled vehicle is studied, including the motion model, the direction system model and the speed system model. According to the characteristics of the outdoor mobile robot, an outdoor mobile robot simulation system is designed and implemented. The system is fully designed with a real interface, the body model simulation of real vehicles, making the upper level algorithm to control the simulation of “transparent” body without any special distinction. The system uses object-oriented design method, has good scalability, can be applied to a variety of body models. Experiments show that the simulation results of the system are highly reliable and in good agreement with the actual results. Real-time simulation is achieved, providing a flexible and convenient experimental platform for mobile robot research and playing a positive role.