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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 (English)In: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, Washington, DC: IEEE Computer Society, 2005, 3415-3420 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Washington, DC: IEEE Computer Society, 2005. 3415-3420 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
Accelerometers, Accident prevention, Autonomous agents, Electronic document identification systems, Linear systems, Mobile robots, Pattern recognition, Robot vibration sensing, Rough terrain, Vibration data
National Category
Robotics
Identifiers
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: diva2:586703
Conference
IEEE International Conference on Robotics and Automation (ICRA), Barcelona, SPAIN, APR 18-22, 2005
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-05Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf