Abstract
We proposed the uneven terrain measure, named "Degree of Unevenness" (DOU) to estimate robot mobility on uneven terrain for path planning for mobile robot. When we evaluate the ability of robot mobility on terrain, not only the surface of the ground but also the size and the shape of the robot are crucial factors. The proposed DOU takes into account these factors to achieve estimation of the unevenness of the terrain for the robot. In this paper, we describe the definition of DOU and its effectiveness is demonstrated through simulations.
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