Autonomous detection of untraversability of the path on rough terrain for the remote controlled mobile robots

The mobile robot which traverses on a rough terrain, should have an ability to recognize the shape of the ground surface and to examine the traversability by itself Even if the robot is remotely controlled by operator, such an ability is still very important to save the operator's load and to keep safety. For this purpose, the robot measures the front ground, and generate the local elevation map which represents the area where the robot is going to pass, and examines that the wheels can pass through and the bottom surface of robot body dose not contact with ground. This paper reports a simple method of traversability test for the wheeled mobile robot and show an experimental system with some results.