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 contribution

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
Place of PublicationBloemfontein, South Africa
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages150-152
Number of pages3
ISBN (Electronic)978-1-5386-2314-5
ISBN (Print)978-1-5386-2315-2
DOIs
Publication statusPublished - 18 Jan 2018
EventSymposium of the Pattern Recognition Association of South Africa (PRASA) and Conference of Robotics and Mechatronics (RobMech) - Bloemfontein, South Africa
Duration: 29 Nov 20171 Dec 2017

Conference

ConferenceSymposium of the Pattern Recognition Association of South Africa (PRASA) and Conference of Robotics and Mechatronics (RobMech)
Abbreviated titlePRASA-RobMech 2017
Country/TerritorySouth Africa
CityBloemfontein
Period29/11/171/12/17

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