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2006

Visual wheel sinkage measurement for planetary rover mobility characterization

8 years 3 months ago
Visual wheel sinkage measurement for planetary rover mobility characterization
Wheel sinkage is an important indicator of mobile robot mobility in natural outdoor terrains. This paper presents a vision-based method to measure the sinkage of a rigid robot wheel in rigid or deformable terrain. The method is based on detecting the difference in intensity between the wheel rim and the terrain. The method uses a single grayscale camera and is computationally efficient, making it suitable for systems with limited computational resources such as planetary rovers. Experimental results under various terrain and lighting conditions demonstrate the effectiveness and robustness of the algorithm. Keywords Rough terrain . Mobile robots . Machine vision . Soil characterization . Mobility
Christopher A. Brooks, Karl Iagnemma, Steven Dubow
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2006
Where AROBOTS
Authors Christopher A. Brooks, Karl Iagnemma, Steven Dubowsky
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