2012
DOI: 10.4028/www.scientific.net/amm.220-223.1171
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Vibration-Based Terrain Identification for Planetary Exploration Robots Using Support Vector Machine

Abstract: Human ability to explore planets (e.g. the moon, Mars) depends on the autonomous mobile performance of planetary exploration robots, so studying on terrain classification is important for it. Vibration-based terrain classification unlike vision classification affected by lighting variations, easily cheated by covering of surface, it analyses the vibration signals from wheel-terrain interaction to classify. Three accelerometers in x, y, z direction and a microphone in z direction were mounted to arm of the left… Show more

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