Vibration-based Terrain Analysis for Mobile Robots

  title={Vibration-based Terrain Analysis for Mobile Robots},
  author={Christopher A. Brooks and Karl Iagnemma and Steven Dubowsky},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
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… CONTINUE READING
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