In rough terrain, the friction coefficient on ground affect driving of the vehicle. Therefore, the exploration robot which investigates the unknown environment must estimate the friction coefficient of the ground to make it possible to drive smoothly....
In rough terrain, the friction coefficient on ground affect driving of the vehicle. Therefore, the exploration robot which investigates the unknown environment must estimate the friction coefficient of the ground to make it possible to drive smoothly. In this paper, it is show that the friction coefficient of each wheel estimated by applying the friction ellipse algorithm to the conventional friction coefficient estimation algorithm can improve the estimation accuracy of the friction coefficient of the ground on which the robot is currently traveling.