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Originally Posted by Eric Whitman
I believe the minimum clearance you need is:
0.134*(the distance between your wheels) = minimum clearance...
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One issue that Eric and I didn't consider at first but is certainly important is that you need to look at the clearance between not just in the side view, but also in the front view of the robot. The clearance should be calculated for both the case when the robot is facing directly up the ramp, and when it is perpendicular to it as the relevant distance between the wheels changes between the cases.
Chances are your forward direction will have a shorter wheel base and require lower clearance than the sideways direction. This means that you may be able to safely drive up the ramp without bottoming out but then turn 90degrees while still half on the ramp and bottom out.