Abstract
The friction and stiffness properties of the terrain are very important pieces of information for mobile robots in motion control, dynamics parameter adjustment, trajectory planning, etc. Inferring the friction and stiffness properties in advance can improve the safety, adaptability and reliability, and reduce the energy consumption of the robot. This paper proposes a vision-based two-stage framework for pre-estimating physical properties of the terrain. We established a field terrain image dataset with weak annotations. A semantic segmentation network that can segment terrains at the pixel level was designed. Given that the same terrain also has different physical properties, we designed two kinds of image features, and we use a decision-making model to realize the mapping from terrain to physical properties. We trained and tested the network comprehensively, and experimented with the complete framework for estimating physical properties. The experimental results show that our framework has good performance.
Highlights
The physical properties of the terrain, including friction properties and stiffness properties, are very important information for autonomous mobile robots
We proposed a vision-based two-stage framework for the physical property estimation of terrain
In the first stage of the framework, we designed a corresponding terrain segmentation network named TerrainNet to infer the types of different terrains of the image densely
Summary
The physical properties of the terrain, including friction properties and stiffness properties, are very important information for autonomous mobile robots. Legged robots can use more favorable leg stiffness control to adapt to different terrain after obtaining the terrain stiffness information [1,2]. They can achieve better body balance to walk safely on the terrain with the friction information [3,4,5]. Tracked robots can take measures to effectively reduce the vibrations caused by the contact between the track and the hard terrain after obtaining the stiffness information [9]. Without understanding the terrain’s physical properties, any application based on the principle of terramechanics can not be reliably applied
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
