Interactive Simulation Framework for Analysing Tracked Mobile Robots in Real-Time

Tracked mobile robots play a crucial role in navigating complex terrains for urban search and rescue and military applications, yet verifying their performance in diverse environments remains a challenge. This study introduces an interactive simulation framework using a Hardware-in-the-Loop (HIL) platform to analyse real-time performance, focusing on critical capabilities such as skid-steering, slope handling, and obstacle climbing. By integrating detailed kinematic models with a virtual environment powered by Unreal Engine, the framework delivers precise simulations that closely replicate real-world scenarios. Validation tests revealed a maximum position error of ±8.5838 cm, with mean squared errors of 0.1854 m for the x-coordinate, 0.1486 m for the y-coordinate, and 0.801 radians for the yaw angle in straight-line navigation. Despite higher errors in complex manoeuvers, the results demonstrate the framework's effectiveness in bridging simulation and real-world performance, providing a reliable tool for the design and testing of mobile robots in challenging environments.