抄録
The spiral radius of a trajectory is most useful information to navigate a mobile robot in traveling on a spiral slope. The measurement method of this spiral radius has not been revealed yet. This paper describes the measurement method by some calculation of robot inclination sensor data. The spiral radius is related to the maximum inclination angle of a spiral slope and the maximum inclination angle can be detected by the combination of roll angle and pitch angle data. The experiment of the trajectory control on a spiral slope using the detected spiral radius is achieved successfully.
