Explore the vast range of titles available.

The objective of this study was to investigate if the inertial data collected from normal human walk can be used to reveal the underlying terrain types. For this purpose, we recorded the gait patterns of normal human walk on six different terrain types with variation in hardness and friction using body mounted inertial sensors. We collected accelerations and angular velocities of 40 healthy subjects with two smartphones embedded inertial measurement units (MPU-6500) attached at two different body locations (chest and lower back). The recorded data were segmented with stride based segmentation approach and 194 tempo-spectral features were computed for each stride. We trained two machine learning classifiers, namely random forest and support vector machine, and cross validated the results with 10-fold cross-validation strategy. The classification tasks were performed on indoor–outdoor terrains, hard–soft terrains, and a combination of binary, ternary, quaternary, quinary and senary terrains. From the experimental results, the classification accuracies of 97% and 92% were achieved for indoor–outdoor and hard–soft terrains, respectively. The classification results for binary, ternary, quaternary, quinary and senary class classification were 96%, 94%, 92%, 90%, and 89%, respectively. These results demonstrate that the stride data collected with the low-level signals of a single IMU can be used to train classifiers and predict terrain types with high accuracy. Moreover, the problem at hand can be solved invariant of sensor type and sensor location.

Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. Every terramechanics model corresponds to its wheel–terrain interaction class (WTIC). Therefore, for terrain parameter identification of the terramechanics model when rovers traverse various terrains, terramechanics model switching corresponding to the WTIC needs to be solved. This paper proposes a speed-independent vibration-based method for WTIC recognition to switch the terramechanics model and then identify its terrain parameters. In order to switch terramechanics models, wheel–terrain interactions are divided into three classes. Three vibration models of wheels under three WTICs have been built and analyzed. Vibration features in the models are extracted and non-dimensionalized to be independent of wheel speed. A vibration-feature-based recognition method of the WTIC is proposed. Then, the terrain parameters of the terramechanics model corresponding to the recognized WTIC are identified. Experiment results obtained using a Planetary Rover Prototype show that the identification method of terrain parameters is effective for rovers traversing various terrains. The relative errors of estimated wheel–terrain interaction force with identified terrain parameters are less than 16%, 12%, and 9% for rovers traversing hard, gravel, and sandy terrain, respectively.

Autonomous robots that operate in the field can enhance their security and efficiency by accurate terrain classification, which can be realized by means of robot-terrain interaction-generated vibration signals. In this paper, we explore the vibration-based terrain classification (VTC), in particular for a wheeled robot with shock absorbers. Because the vibration sensors are usually mounted on the main body of the robot, the vibration signals are dampened significantly, which results in the vibration signals collected on different terrains being more difficult to discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade. The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of the existing feature-engineering and feature-learning classification methods; and (2) According to the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM (1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods, which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project; meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method (LSTM) by 8.23%.

It is important for Mars exploration rovers to achieve autonomous and safe mobility over rough terrain. Terrain classification can help rovers to select a safe terrain to traverse and avoid sinking and/or damaging the vehicle. Mars terrains are often classified using visual methods. However, the accuracy of terrain classification has been less than 90% in read operations. A high-accuracy vision-based method for Mars terrain classification is presented in this paper. By analyzing Mars terrain characteristics, novel image features, including multiscale gray gradient-grade features, multiscale edges strength-grade features, multiscale frequency-domain mean amplitude features, multiscale spectrum symmetry features, and multiscale spectrum amplitude-moment features, are proposed that are specifically targeted for terrain classification. Three classifiers, K-nearest neighbor (KNN), support vector machine (SVM), and random forests (RF), are adopted to classify the terrain using the proposed features. The Mars image dataset MSLNet that was collected by the Mars Science Laboratory (MSL, Curiosity) rover is used to conduct terrain classification experiments. The resolution of Mars images in the dataset is 256 × 256. Experimental results indicate that the RF classifies Mars terrain at the highest level of accuracy of 94.66%.

Accurate classification and identification of the detected terrain is the basis for the long-distance patrol mission of the planetary rover. But terrain measurement based on vision and radar is subject to conditions such as light changes and dust storms. In this paper, under the premise of not increasing the sensor load of the existing rover, a terrain classification and recognition method based on vibration is proposed. Firstly, the time-frequency domain transformation of vibration information is realized by fast Fourier transform (FFT), and the characteristic representation of vibration information is given. Secondly, a deep neural network based on multi-layer perception is designed to realize classification of different terrains. Finally, combined with the Jackal unmanned vehicle platform, the XQ unmanned vehicle platform, and the vibration sensor, the terrain classification comparison test based on five different terrains was completed. The results show that the proposed algorithm has higher classification accuracy, and different platforms and running speeds have certain influence on the terrain classification at the same time, which provides support for subsequent practical applications.

Legged robot navigation in extreme environments can hinder the use of cameras and lidar due to darkness, air obfuscation or sensor damage, whereas proprioceptive sensing will continue to work reliably. In this paper, we propose a purely proprioceptive localization algorithm which fuses information from both geometry and terrain type to localize a legged robot within a prior map. First, a terrain classifier computes the probability that a foot has stepped on a particular terrain class from sensed foot forces. Then, a Monte Carlo-based estimator fuses this terrain probability with the geometric information of the foot contact points. Results demonstrate this approach operating online and onboard an ANYmal B300 quadruped robot traversing several terrain courses with different geometries and terrain types over more than 1.2 km. The method keeps pose estimation error below 20 cm using a prior map with trained network and using sensing only from the feet, leg joints and IMU.

Time-averaged shear-wave velocity to 30 m (VS30) is commonly used in ground motion models as a parameter for evaluating site effects. This study used a collection of boreholes in Beijing, Tianjin, Guangxi, Guangdong, and three other municipalities and provinces, which were divided into three regions with reference to the seismic ground motion parameter zonation map of China, to establish VS30 prediction models based on terrain categories. Regional effects were verified by comparing morphometric parameter (topographic slope, surface texture, and local convexity) thresholds and terrain classification maps obtained from global digital elevation model (DEM) data and regional DEM data of the three regions. Additionally, VS30 prediction models for the three regions using both types of terrain classification maps were established and analyzed comparatively to provide credible regional VS30 models for China. Through analysis of the correlations between the measured VS30 values and the predicted VS30 values, calculation of the mean squared error and mean absolute percentage error in each region, and with consideration of the geological characteristics of the boreholes, the VS30 prediction models based on terrain classification maps from regional data were finally applied in developing regional VS30 models for China. Intercomparison of the VS30 prediction models for the three regions indicated that subregional consideration is necessary in terrain classification. Finally, a spatial analysis method adopting inverse distance weighting of the residuals was used to update the initial VS30 models. The developed VS30 models could be used both in developing regional ground motion models and in the construction of earthquake disaster scenarios.

Surface, terrain, or even atmosphere analysis using images or their fragments is important due to the possibilities of further processing. In particular, attention is necessary for satellite and/or drone images. Analyzing image elements by classifying the given classes is important for obtaining information about space for autonomous systems, identifying landscape elements, or monitoring and maintaining the infrastructure and environment. Hence, in this paper, we propose a neural classifier architecture that analyzes different features by the parallel processing of information in the network and combines them with a feature fusion mechanism. The neural architecture model takes into account different types of features by extracting them by focusing on spatial, local patterns and multi-scale representation. In addition, the classifier is guided by an attention mechanism for focusing more on different channels, spatial information, and even feature pyramid mechanisms. Atrous convolutional operators were also used in such an architecture as better context feature extractors. The proposed classifier architecture is the main element of the modeled framework for satellite data analysis, which is based on the possibility of training depending on the client’s desire. The proposed methodology was evaluated on three publicly available classification datasets for remote sensing: satellite images, Visual Terrain Recognition, and USTC SmokeRS, where the proposed model achieved accuracy scores of 97.8%, 100.0%, and 92.4%, respectively. The obtained results indicate the effectiveness of the proposed attention mechanisms across different remote sensing challenges.

The work presents a review on ongoing researches in terrain-related challenges influencing the navigation of Autonomous Robots, specifically Unmanned Ground ones. The paper aims to highlight the recent developments in robot design and advanced computing techniques in terrain identification, classification, parameter estimation, and developing modern control strategies. The objective of our research is to familiarize the gaps and opportunities of the aforementioned areas to the researchers who are passionate to take up research in the field of autonomous robots. The paper brings recent works related to terrain strategies under a single platform focusing on the advancements in planetary rovers, rescue robots, military robots, agricultural robots, etc. Finally, this paper provides a comprehensive analysis of the related works which can bridge the AI techniques and advanced control strategies to improve navigation. The study focuses on various Deep Learning techniques and Fuzzy Logic Systems in detail. The work can be extended to develop new control schemes to improve multiple terrain navigation performance.

The significant differences in data domains between SAR images and the expensive and time-consuming process of data labeling pose significant challenges to terrain classification. Current terrain classification methodologies face challenges in addressing domain disparities and detecting uncommon terrain effectively. Based on Style Transformation and Domain Metrics (STDMs), we propose an unsupervised domain adaptive framework named STDM-UDA for terrain classification in this paper, which consists of two steps: image style transfer and domain adaptive segmentation. As a first step, image style transfer is performed within the image space to mitigate the differences in low-level features between SAR image domains. Subsequently, leveraging this process, the segmentation network extracts image features, employing domain metrics and adversarial training to enhance alignment between domain gaps in the semantic feature space. Finally, experiments conducted on several pairs of SAR images, each exhibiting varying degrees of differences in key imaging parameters such as source, resolution, band, and polarization, demonstrate the robustness of the proposed method. It achieves remarkably competitive classification accuracy, particularly for unlabeled, high-resolution broad scenes, effectively overcoming the domain gaps introduced by the diverse imaging parameters under studies.