For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

Abstract
 1. 서 론
 2. 횡 방향 힘 추정을 위한 모델 설계
  2.1 횡 방향 힘 추정 모델 설계 개요 및 시뮬레이션 환경
  2.2 횡 마찰 곡선 모델 설계
  2.3 시뮬레이션 결과 검증
 3. 지질 분석 장치 실험
  3.1 지질 분석 장치 실험 환경
  3.2 간략화 횡 마찰 곡선 보정
 4. 야지환경에서의 로봇 주행 실험
  4.1 실외 로봇 주행 실험
  4.2 제자리 회전 주행 실험 결과
  4.3 시험 경로 주행 실험 결과
 5. 결 론
 References

• 김지용(Master course, Mechatronics Engineering, Chungnam National University) | Jiyong Kim
• 이지홍(Professor, Corresponding author: Mechatronics Engineering, Chungnam National University) | Jihong Lee Corresponding author
• 주상현(Senior Researcher, Agency for Defence Develpment) | Sang Hyun Joo