Classification of Textured Surfaces for Robot Navigation Using Continuous Transmission Frequency-Modulated Sonar Signatures

Abstract

Whereas in the past ultrasonic sensors have been largely used only to estimate the proximity of objects and the location and identification of primitive targets in a robot workspace, the development of biomimetic sonar has opened up new possibilities for their application. Broadband sonar echoes have sufficient resolution so that characteristics on reflection, especially geometry and texture, can be distinguished with only a few measurements. In this paper, we describe how a model of texture can be used to distinguish between a number of different surfaces using only a single measurement of each, showing results on a number of surfaces that might be considered typical pathways for a mobile robot, both those with periodicity in pattern and those with statistically homogeneous features. In particular, we consider textures corresponding to hard smooth floors, carpets and asphalts, and surfaces with a repeating pattern made up of tiles. Each random rough surface is modeled using an extension of the Kirchhoff approximation method describing the scattering of the acoustic wave on the surface while the periodic surfaces are modeled assuming distinctive reflections from the tile borders. The continuous transmission frequency-modulated sonar signature corresponding to each class is derived and compared with the experimental measurement. A set of features is extracted that exploits the differences between the surface models, and a hierarchical classification scheme is proposed for recognition.

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

“…Moreover, the longitudinal slip reaction force depends on slip ratio sr j = χj max{|R φj |,|R φj − χj |} , where j = 1, 2. Using variables sr j and sa j , we can model both lateral and longitudinal slip reaction forces based on Pacejka or Magic formula, 39 which has been widely accepted for use in industry and academia. The general form of slip reaction forces with Pacejka formula is given below…”

“…where λ0,e , λ1,e , λ2,e , λ0,y , λ1,y , λ0,x , λ1,x are positive gain constants; 𝜏 1 , 𝜏 57 Replacing ̇e, ë, ̇y, and ̇x in (29) by their corresponding estimates 𝜏 1 , 𝜏 2 , 𝜔 1 , 𝜓 1 from differentiators equations ( 43)-( 45) and using (39), we obtain the following trajectory tracking controller: ̇v = ĴT u(t, z n (𝜓 1 , 𝜔 1 ), e, 𝜏 1 , 𝜏 2 , s) (46) with…”

Automotive System for Remote Surface Classification

“…The objectives of the papers [9,10,11,12,13,14,15,16] were to classify surfaces using ultrasonic signals, primarily for use in robotics. In the case of robotic applications the task of classification is simplified comparing with automotive, as robots speed is usually low and the distance is limited to a few meters.…”

“…Along with other sensor technologies, ultrasonic sensors are widely used in automotive applications; a short review of the papers on surface classification using sonar is presented in [ 8 ]. The objectives of the papers [ 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 ] were to classify surfaces using ultrasonic signals, primarily for use in robotics. In the case of robotic applications the task of classification is simplified comparing with automotive, as robots speed is usually low and the distance is limited to a few meters.…”

“…This method was able to identify different surfaces by matching measured echo-energy and echo-duration maps with the templates. Sonar performance in distinguishing between surfaces with random and periodic textures has been studied in [ 15 ]. In [ 16 ] the neural network has been trained to differentiate between wood, carpet, curtain, ceiling, and water covered surfaces.…”