Research papersSupport vector machine based real-time terrain estimation for tracked robots
Support vector machine based real-time terrain estimation for tracked robots
Research Paper

Support vector machine based real-time terrain estimation for tracked robots

October 1, 2020

Bijo Sebastian and Pinhas Ben-Tzvi

Abstract

This paper describes the use of support vector machine (SVM) classifier for real-time terrain estimation to improve autonomous navigation of tracked mobile robots. Real-time terrain identification and terrain property estimation has been explored previously for application on a wide range of systems from planetary exploration rovers to commercial vehicles like cars and trucks. A majority of the existing methods rely on the use of dedicated sensors including vibration sensors, accelerometers, cameras, LIDAR, etc., which makes them susceptible to the failure modes of each of these sensors. This work proposes a method for real-time classification of different terrain types based on the state evolution of a ground robot, specifically the measured change in the pose of the robot for a known control input. By using a trained SVM to perform terrain estimation based on the collected state evolution data, the proposed method does not require dedicated sensing modalities solely for the terrain estimation. In addition, this method is generally applicable in all conditions where the robot can traverse. The training data was obtained from four different terrain conditions including vinyl flooring, asphalt, artificial turf, and grass–gravel, to train the SVM to perform terrain estimation. The proposed technique is validated using a skid-steer tracked robot over multiple simulated and real terrain transitions cases, where the response to control inputs is significantly affected by terrain characteristics. The results show that the proposed method provides greater than 80% accuracy in all cases, with fast detection of terrain transitions. The paper concludes with a detailed description on the application of real-time terrain estimation in improving autonomous navigation.

‍

Keywords

Mobile robot, Estimation, Classification, Real-time systems, Navigation

‍

You'll find it here: https://www.sciencedirect.com/science/article/abs/pii/S0957415819300935

‍

Read also

Robot and Drone Localization in GPS-Denied Areas
Research paper

Robot and Drone Localization in GPS-Denied Areas

Bijo Sebastian and Pinhas Ben-Tzvi - Part of the Mechatronics, The Science of Intelligent Machines

In this paper, the many facets of robot and drone coordination in GPS-denied areas are discussed, addressing issues associated with localization and coordinating multiple agents as they attempt to accomplish a common goal.

Using a local positioning system to track 2D motion
Research paper

Using a local positioning system to track 2D motion

Paul R. DeStefano, Cora Siebert, and Ralf Widenhorn at the Department of Applied Physics of the Portland State University in Oregon, United States.

Tracking the motion of an object in 2D as a demonstration in a physics classroom or as a laboratory activity is difficult to accomplish in real-time with traditional equipment used by educators. A local positioning system (LPS), like the Pozyx Creator series LPS, has a potentially wide range of educational applications for introductory physics courses.