Soil gradation is an important characteristic for soil mechanics. Traditionally soil gradation is performed by sieve analysis using a sample from the field. In this research, we are interested in the application of hyperspectral remote sensing to characterize soil gradation. The specific objective of this work is to explore the application of hyperspectral remote sensing to be used as an alternative to traditional soil gradation estimation. The advantage of such an approach is that it would provide the soil gradation without having to obtain a field sample. This work will examine five different soil types from the Keweenaw Research Center within a laboratory-controlled environment for testing. Our study demonstrates a correlation between hyperspectral data, the percent gravel and sand composition of the soil. Using this correlation, one can predict the percent gravel and sand within a soil and, in turn, calculate the remaining percent of fine particles. This information can be vital to help identify the soil type, soil strength, permeability/hydraulic conductivity, and other properties that are correlated to the gradation of the soil.
Soil strength characterization is essential for any problem that deals with geomechanics, including terramechanics/terrain mobility. Presently, the primary method of collecting soil strength parameters through in situ measurements but sending a team of people out to a site to collect data this has significant cost implications and accessing the location with the necessary equipment can be difficult. Remote sensing provides an alternate approach to in situ measurements. In this lab study, we compare the use of Apparent Thermal Inertia (ATI) against a GeoGauge for the direct testing of soil stiffness. ATI correlates with stiffness, so it allows one to predict the soil strength remotely using machine-learning algorithms. The best performing regression algorithm among the ones tested with different predictor variable combinations was found to be KNN with an R2 of 0.824 and a RMSE of 0.141. This study demonstrates the potential for using remote sensing to acquire thermal images that characterize terrain strength for mobility utilizing different machine-learning algorithms.
<div class="section abstract"><div class="htmlview paragraph">Off-road vehicle operation requires constant decision-making under great uncertainty. Such decisions are multi-faceted and range from acquisition decisions to operational decisions. A major input to these decisions is terrain information in the form of soil properties. This information needs to be propagated to path planning algorithms that augment them with other inputs such as visual terrain assessment and other sensors. In this sequence of steps, many resources are needed, and it is not often clear how best to utilize them. We present an integrated approach where a mission’s overall performance is measured using a multiattribute utility function. This framework allows us to evaluate the value of acquiring terrain information and then its use in path planning. The computational effort of optimizing the vehicle path is also considered and optimized. We present our approach using the data acquired from the Keweenaw Research Center terrains and present some results.</div></div>
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