The utilization of unmanned ground vehicles (UGV) is spreading on agricultural applications. However, deformable terrains pose critical challenges to ground mobile robots, both in terms of energy consumption and attitude control. For this reason, current researches are devoted to improving the power consumption rate and tractive efficiency of intelligent tractors to better perform agricultural operations and to reduce energy expenditure. In order to achieve these requirements, it is necessary to analyze the soil-wheel interaction mechanics and to estimate terrain parameters to be used in predictive control systems. The main objective of this thesis is to fast prototyping a terramechanics-based wheel–soil interaction model by means of polynomial approximation of stresses originating along the contact patch.