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In order to correctly sense incline terrain, its geometrical calculated model is analyzed. Based on the change trend of distance between the mobile robot and slope, their relative position can be determined. Then a novel method which takes the use of the powerful nonlinearity approach capability of RBF network is introduced to estimate the slope of the terrain with respect to the robot's current angular tilt. The experimental results show that the proposed approach can be used for mobile robot incline terrain perception and has the merits of easy, trustiness and robustness.