Multi Body Dynamics Simulation of the off-Road Robotized Vehicle in the RoboShepherd System

The progress of modern technology can make robots more useful, more efficient and applicable in different areas. Swarm robots, which are autonomous, cooperative, self-organized, and coordinated groups of robots, are one of the rapidly expanding areas of robotics. There are many different swarm robots examples in the industry, as well as in scientific research, and every robotic unit in most of these examples is not physically connected to other robotic units. There are much fewer examples of a group of robots where there is some physical connection in the form of a rope or tow link between two robots. Connecting several robots by wire or rope, where a wire is maintained to be tightened, can form moving fence. This system can be used as an autonomous system for herd keeping and breeding - RoboShepherd. Dynamics of such robotic system can be complex. This paper presents multi body dynamics simulation of the off-road robotized vehicle in the RoboShepherd system.