DocumentCode
260941
Title
Analysis of surface strength in frequency domain using fore-aft distance information of wheeled robots on rough terrain
Author
Jayoung Kim ; Jihong Lee
fYear
2014
fDate
15-18 Jan. 2014
Firstpage
1
Lastpage
2
Abstract
This paper explores a possibility of identifying material types using fore-aft distance information of an ultrasonic sensor which is changed depending on surface strength. Fore-aft distance data are transformed into frequency domain using FFT and frequency data are analyzed for extracting features of a material type. Sensor data are acquired by a testbed for analysis of a wheel-terrain interaction on four types of a surface; asphalt, sand, gravel and grass.
Keywords
mobile robots; terrain mapping; ultrasonic transducers; feature extraction; fore-aft distance data; fore-aft distance information; frequency data; frequency domain; rough terrain; sensor data; surface strength; surface strength analysis; ultrasonic sensor; wheel terrain interaction; wheeled robots; Asphalt; Mobile robots; Robot sensing systems; Rough surfaces; Surface roughness; distance information; material identification; rough terrain; surface strength; wheeled robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Information and Communications (ICEIC), 2014 International Conference on
Conference_Location
Kota Kinabalu
Type
conf
DOI
10.1109/ELINFOCOM.2014.6914395
Filename
6914395
Link To Document