Learning-Based Terrain Identification With Proprioceptive Sensors for Mobile Robots

Abstract

High accuracy of terrain identification is essential for intelligent control of tracked mobile robots. In this article, a learning-based identification framework is proposed to achieve precise driving torque prediction. Experiments under straight-line and steady-state turning maneuvers were conducted to develop terrain identification in three similar terrains. A multiple deep belief networks is applied as the identification layer with three kinds of signal sources. An equivalent weight algorithm with training experience effectively integrates the results from different signal sources to improve the identification accuracy. With the experiment and identification results, a method combining numerical approximation and Gaussian process (GP) is presented to predict driving torque. A combined Gaussian kernel with long- and short-term characteristics is selected to enhance prediction performance. The results from combined signal sources under straight-line maneuvers yield over 98% accuracy, which exceeds that from other sources. The integration algorithm obviously improves the identification accuracy and stability compared with a single signal source. The influence of window length in GP is explored with hyperparameters and results. The performance of torque prediction in different terrains is analyzed with inner and outer tracks. Compared with existing methods, the results validate the effectiveness and superior performance of the proposed framework.