Year: 2006
Type: conference-paper
Abstract: This paper considers prediction of slip from a distance for wheeled ground robots using visual information as input.Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility.Therefore, obtaining information about slip before entering a particular terrain can be very useful for better planning and avoiding terrains with large slip.The proposed method is based on learning from experience and consists of terrain type recognition and nonlinear regression modeling.After learning, slip prediction is done remotely using only the visual information as input.The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips.The slip prediction error is about 20% of the step size.
Source: Robotics: Science and Systems
Authors: A. Angelova, L. Matthies, D. Helmick, P. Perona
Institutions: California Institute of Technology, Jet Propulsion Laboratory
Language: English
Subfield: Civil and Structural Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W1751898876