Slip estimation methods for proprioceptive terrain classification using tracked mobile robots

Ditebogo Masha, Michael Burke, Bhekisipho Twala

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)

Abstract

Recent work has shown that proprioceptive measurements such as terrain slip can be used for terrain classification. This paper investigates the suitability of four simple slip estimation methods for differentiating between indoor and outdoor terrain surfaces, namely: rocks, grass, rubber and carpet. These slip estimates are calculated using experimental odometric data collected from a tracked autonomous ground vehicle and comprise of two instantaneous estimators and a temporal windowing approach. Results show that only the temporal windowing approach shows significant differences across the terrains investigated, indicating that instantaneous measurements are unsuited to terrain classification.

Original languageEnglish
Title of host publication2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)
EditorsBen Kotze, Kanzumba Kusakana
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages150-152
Number of pages3
ISBN (Electronic)9781538623138, 9781538623145
ISBN (Print)9781538623152
DOIs
Publication statusPublished - 2017
Externally publishedYes
EventPattern Recognition Association of South Africa and the Robotics and Mechatronics International Conference 2017 - Bloemfontein, South Africa
Duration: 29 Nov 20171 Dec 2017
Conference number: 28th & 10th
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/8253089/proceeding (Proceedings)
https://web.archive.org/web/20170906011925/http://www.rgems.co.za/Home/Prasa_Robmech (Website)

Conference

ConferencePattern Recognition Association of South Africa and the Robotics and Mechatronics International Conference 2017
Abbreviated titlePRASA-RobMech 2017
CountrySouth Africa
CityBloemfontein
Period29/11/171/12/17
Internet address

Keywords

  • proprioceptive terrain classification
  • slip estimation
  • surface differentiation
  • terrain classification
  • tracked vehicles

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