Kart-Racing which is called a microcosm of F1`s racing is the most basic step in the car racing. A Kart consisting of the very fundamental structure which does not include differential gear and suspension is sampler than a typical car. It is necessary to reduce the Lab time at the Kart-racing`s corner so the research investigate the Kart through check of racing condition and of driving factors about cornering. The study measured to make the kart closely factual condition which was showed the main parameters for more actual decision of kart`s dynamic characteristics and estimated the real-time data from the developed kart whose sensor was installed at all tires and which was pursued through the GPS.

This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.