The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Terrain Classification for Enhancing Mobility of Outdoor Mobile Robot

실외 주행 로봇의 이동 성능 개선을 위한 지형 분류

  • 김자영 (충남대학교 메카트로닉스 공학과) ;
  • 이종화 (충남대학교 메카트로닉스 공학과) ;
  • 이지홍 (충남대학교 메카트로닉스 공학과) ;
  • 권인소 (한국과학기술원 전자 전산학부)
  • Received : 2010.06.28
  • Accepted : 2010.09.17
  • Published : 2010.11.30
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Abstract

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

Keywords

References

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