Research on Power Optimization of the WalkingWheel Air Cushion Vehicle on Soft Ground

Through analysis of the walkingwheel air cushion vehicle moving state on soft ground the definition of optimum clearance height of the walkingwheel air cushion vehicle was given for the first time, the power consumption model withsoil condition was built up,and the best point of power was obtained in the paper.　The foundation for power selfadaptive control of the walkingwheel air cushion vehicle on soft ground was given.