Comparative Study of Different Methods in Vibration-Based Terrain Classification for Wheeled Robots with Shock Absorbers
نویسندگان
چکیده
منابع مشابه
Comparison of Different Approaches to Vibration-based Terrain Classification
There is a variety of different terrain types in outdoor environments, each posing different dangers to the robot and demanding a different driving style. In a previous paper, we presented a terrain classification method based on Support Vector Machines (SVM), which uses vibrations induced in the body of the robot to learn different terrain classes. However, in the previous paper, our experimen...
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When an outdoor mobile robot traverses different types of ground surfaces, different types of vibrations are induced in the body of the robot. These vibrations can be used to learn a discrimination between different surfaces and to classify the current terrain. Recently, we presented a method that uses Support Vector Machines for classification, and we showed results on data collected with a ha...
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The ability to recognize the encountered terrain is an essential part of any terrain-dependent control system designed for mobile robots. Terrains such as sand and gravel make vehicle mobility more difficult and thus reduce vehicle performance. To alleviate this problem the vehicle control system can be tuned for maximum speeds, turning angles, accelerations and other conditions to help adapt t...
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ژورنال
عنوان ژورنال: Sensors
سال: 2019
ISSN: 1424-8220
DOI: 10.3390/s19051137