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Terrain characterization and classification with a mobile robot
Author(s) -
Ojeda Lauro,
Borenstein Johann,
Witus Gary,
Karlsen Robert
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20113
Subject(s) - terrain , mobile robot , robot , context (archaeology) , computer science , artificial intelligence , characterization (materials science) , computer vision , simulation , real time computing , geography , cartography , materials science , archaeology , nanotechnology
This paper introduces novel methods for terrain classification and characterization with a mobile robot. In the context of this paper, terrain classification aims at associating terrains with one of a few predefined, commonly known categories, such as gravel, sand, or asphalt. Terrain characterization , on the other hand, aims at determining key parameters of the terrain that affect its ability to support vehicular traffic. Such properties are collectively called “trafficability.” The proposed terrain classification and characterization system comprises a skid‐steer mobile robot, as well as some common and some uncommon but optional onboard sensors. Using these components, our system can characterize and classify terrain in real time and during the robot's actual mission. The paper presents experimental results for both the terrain classification and characterization methods. The methods proposed in this paper can likely also be implemented on tracked robots, although we did not test this option in our work.