1A1-G01 Proposal of uneven terrain measure for mobile robot
Tsukasa Kobayashi, Tomoyuki Yamaguchi, Shunsuke KOSE, Shuji Hashimoto · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
In this paper, we propose the uneven terrain measure, named "Uneven terrain degree" (UTD) to estimate mobility on uneven terrain that is also used in path planning for mobile robot. The UTD is calculated from the size and shape of the robot and geographical features. Most approaches to evaluate the terrain evenness have used only geographical features of the terrain. However, when we evaluate the ability of robot mobility on terrain, the size and the shape of the robot are also crucial factors. The proposed UTD take these factors into account to achieve reliable estimation of the unevenness of the terrain for the robot. We examined the feasibility of the UTD through a series of experiments with different uneven terrains and robots.