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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Vibration-based terrain classification for planetary exploration rovers


    Beteiligte:
    Brooks, C.A. (Autor:in) / Iagnemma, K. (Autor:in)

    Erschienen in:

    IEEE Transactions on Robotics ; 21 , 6 ; 1185-1191


    Erscheinungsdatum :

    2005


    Format / Umfang :

    7 Seiten, 28 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Self-supervised terrain classification for planetary surface exploration rovers

    Brooks, C. A. / Iagnemma, K. | British Library Online Contents | 2012


    Terrain Classification and Classifier Fusion for Planetary Exploration Rovers

    Halatci, Ibrahim / Brooks, Christopher A. / Iagnemma, Karl | IEEE | 2007



    Terrain Sensing for Planetary Rovers

    Dimastrogiovanni, Mauro / Cordes, Florian / Reina, Giulio | TIBKAT | 2021


    Visual, tactile, and vibration-based terrain analysis for planetary rovers

    Legnemma, K. / Brooks, C. / Dubowsky, S. | IEEE | 2004