Abstract
This paper proposes a novel method for real-time ground surface identification on rough terrain based on the estimation of soil resistance, which can be distinguished depending on the material type such as sand or firm soil. Soil resistance is considered a crucial feature for classifying materials while a mobile robot is traversing rough terrain where wheel slip can easily occur such as sand, gravel, grass, etc. This paper, which illustrates the proposed method, is largely divided into two parts. First, a method of material identification is theoretically discussed from some equations related to the estimation of soil resistance and the classification of material type. Second, the proposed method is verified by one-wheel driving experiments using a testbed for the analysis of wheelterrain interaction in a laboratory and by real robot experiments in outdoor environments such as sand, grass, firm soil, and asphalt.
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