hh.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Vibration-based terrain classification for planetary exploration rovers
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
2005 (Engelska)Ingår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 21, nr 6, s. 1185-1191Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Safe, autonomous mobility in rough terrain is an important requirement for planetary exploration rovers. Knowledge of local terrain properties is critical to ensure a rover's safety on slopes and uneven surfaces. Visual features are often used to classify terrain; however, vision can be sensitive to lighting variations and other effects. This paper presents a method to classify terrain based on vibrations induced in the rover structure by wheel-terrain interaction during driving. This sensing mode is robust to lighting variations. Vibrations are measured using an accelerometer mounted on the rover structure. The classifier is trained using labeled vibration data during an offline learning phase. Linear discriminant analysis is used for online identification of terrain classes, such as sand, gravel, or clay. This approach has been experimentally validated on a laboratory testbed and on a four-wheeled rover in outdoor conditions.

Ort, förlag, år, upplaga, sidor
Piscataway, N.J.: IEEE Robotics and Automation Society, 2005. Vol. 21, nr 6, s. 1185-1191
Nyckelord [en]
Mobile robots, Pattern classification, Robot sensing systems, Rough terrain
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20786DOI: 10.1109/TRO.2005.855994ISI: 000234154100015Scopus ID: 2-s2.0-29844444582OAI: oai:DiVA.org:hh-20786DiVA, id: diva2:586719
Konferens
IEEE International Conference on Robotics and Automation, APR, 2005, Barcelona, SPAIN
Tillgänglig från: 2013-01-12 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Iagnemma, Karl

Sök vidare i DiVA

Av författaren/redaktören
Iagnemma, Karl
I samma tidskrift
IEEE Transactions on robotics
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetricpoäng

doi
urn-nbn
Totalt: 201 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf