Abstract
This paper describes a development of a planar travel distance sensor for a mobile robot in rough terrain. The sensor system with an optical flow device is relatively simple and achieves high sampling rate of millisecond order. The sensor performance is experimentally evaluated from the following points; measurement accuracy, velocity response, varied height with respect to terrain, disturbance light and terrain surface characteristics. The experimental results confirm that the developed sensor system is accurate, having less than a few percent error of distance traveled, and possesses wide dynamic range for traveling velocity of the robot, enabling wheel/vehicle slip detection. The paper also discusses the applicability of the sensor for practical scenario based on findings the experiment.
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