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Terrain characterization and classification with a mobile robot

dc.contributor.authorOjeda, Lauroen_US
dc.contributor.authorBorenstein, Johannen_US
dc.contributor.authorWitus, Garyen_US
dc.contributor.authorKarlsen, Roberten_US
dc.date.accessioned2007-05-02T14:19:41Z
dc.date.available2007-05-02T14:19:41Z
dc.date.issued2006-02en_US
dc.identifier.citationOjeda, Lauro; Borenstein, Johann; Witus, Gary; Karlsen, Robert (2006). "Terrain characterization and classification with a mobile robot." Journal of Field Robotics 23(2): 103-122. <http://hdl.handle.net/2027.42/50682>en_US
dc.identifier.issn1556-4959en_US
dc.identifier.issn1556-4967en_US
dc.identifier.urihttps://hdl.handle.net/2027.42/50682
dc.description.abstractThis 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.en_US
dc.format.extent651644 bytes
dc.format.extent3118 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypetext/plain
dc.publisherWiley Subscription Services, Inc., A Wiley Companyen_US
dc.subject.otherEngineeringen_US
dc.subject.otherElectronic, Electrical & Telecommunications Engineeringen_US
dc.titleTerrain characterization and classification with a mobile roboten_US
dc.typeArticleen_US
dc.rights.robotsIndexNoFollowen_US
dc.subject.hlbsecondlevelMechanical Engineeringen_US
dc.subject.hlbtoplevelEngineeringen_US
dc.description.peerreviewedPeer Revieweden_US
dc.contributor.affiliationumDepartment of Mechanical Engineering, The University of Michigan, Ann Arbor, Michigan 48109en_US
dc.contributor.affiliationumDepartment of Mechanical Engineering, The University of Michigan, Ann Arbor, Michigan 48109en_US
dc.contributor.affiliationotherTuring Associates, Inc., 1392 Honey Run Drive, Ann Arbor, Michigan 48103en_US
dc.contributor.affiliationotherU.S. Army TARDEC, 6501 East 11 Mile Road, AMSRD-TAR/R (MS 263), Warren, Michigan 48397en_US
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/50682/1/20113_ftp.pdfen_US
dc.identifier.doihttp://dx.doi.org/10.1002/rob.20113en_US
dc.identifier.sourceJournal of Field Roboticsen_US
dc.owningcollnameInterdisciplinary and Peer-Reviewed


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