Adaptive online terrain classification method for mobile robot based on vibration signals

International Journal of Advanced Robotic Systems

article

Mingming Wang¹  Liming Ye¹  Xiaoyun Sun¹ 

[1] Department of Electrical and Electronic Engineering, Shijiazhuang Tiedao University

关键词: Terrain classification;    mobile robot;    RF algorithm;    feature extraction;   

DOI  :  10.1177/17298814211062035

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

To improve the accuracy of terrain classification during mobile robot operation, an adaptive online terrain classification method based on vibration signals is proposed. First, the time domain and the combined features of the time, frequency, and time–frequency domains in the original vibration signal are extracted. These are adopted as the input of the random forest algorithm to generate classification models with different dimensions. Then, by judging the relationship between the current speed of the mobile robot and its critical speed, the classification model of different dimensions is adaptively selected for online classification. Offline and online experiments are conducted for four different terrains. The experimental results show that the proposed method can effectively avoid the self-vibration interference caused by an increase in the robot’s moving speed and achieve higher terrain classification accuracy.

【 授权许可】

CC BY