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Vibration-based terrain analysis for mobile robots
Field and Space Robotics Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139, United States.
Field and Space Robotics Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139, United States.
Field and Space Robotics Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139, United States.
2005 (engelsk)Inngår i: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, Washington, DC: IEEE Computer Society, 2005, s. 3415-3420Konferansepaper, Publicerat paper (Fagfellevurdert)
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. This paper presents a method to classify terrain based on vibrations induced in the rover structure by wheel-terrain interaction during driving. Vibrations are measured using an accelerometer on the rover structure. The classifier is trained using labeled vibration data during an off-line learning phase. Linear discriminant analysis is used for on-line identification of terrain classes such as sand, gravel, or clay. This approach is experimentally validated on a laboratory testbed.

sted, utgiver, år, opplag, sider
Washington, DC: IEEE Computer Society, 2005. s. 3415-3420
Serie
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Emneord [en]
Accelerometers, Accident prevention, Autonomous agents, Electronic document identification systems, Linear systems, Mobile robots, Pattern recognition, Robot vibration sensing, Rough terrain, Vibration data
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20830DOI: 10.1109/ROBOT.2005.1570638ISI: 000235460102168Scopus ID: 2-s2.0-33646362594ISBN: 0-7803-8914-X ISBN: 978-078038914-4 OAI: oai:DiVA.org:hh-20830DiVA, id: diva2:586703
Konferanse
IEEE International Conference on Robotics and Automation (ICRA), Barcelona, SPAIN, APR 18-22, 2005
Tilgjengelig fra: 2013-01-12 Laget: 2013-01-12 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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