Real-time vision based dynamic sinkage detection for exploration rovers

Al-Milli, Said; Spiteri, Conrad; Comin, F; Gao, Yang

doi:10.1109/iros.2013.6697029

Cited by 6 publications

(11 citation statements)

References 9 publications

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“…When glare is detected in one wheel the other wheel has optimum lighting and therefore the sinkage reading for the opposite wheel should be considered [10]. Glare can also be anticipated by acquiring data from a sun sensor.…”

Section: Additional Observationsmentioning

confidence: 99%

“…It has also been observed that the algorithm is very resilient to shadows [10], whether coming from the actual legged wheel assembly, rocks, dunes or other sources. Datasets 6 and 8 manifest such self-shadowing by the leg and assembly body respectively.…”

Section: Additional Observationsmentioning

confidence: 99%

“…The aim of this paper is to analyze the performance of a dynamic real-time vision based sinkage detection algorithm for planetary rovers as presented in [10,6] in a real-world field trial. The field trial was conducted in a cordoned area on West Wittering beach in the south-west of England during August 2013.…”

Section: Introductionmentioning

confidence: 99%

“…Section 3 discusses the algorithm presented in [10] with some minor modifications that allowed it to perform well in real world applications. Section 4 analyses the test results from the field trial in detail while our conclusions are presented in Section 5.…”

Section: Introductionmentioning

confidence: 99%

“…(For interpretation of the references to color in this figure legend, the reader is referred to the web version of this article. )lab tests where the lighting conditions could be controlled as highlighted in[10].…”

mentioning

confidence: 99%

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Real-time visual sinkage detection for planetary rovers

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Section: Additional Observationsmentioning

confidence: 99%

Section: Additional Observationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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confidence: 99%

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Real-time visual sinkage detection for planetary rovers

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Gao

et al. 2015

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Vision and Image Processing

Paar

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Müller³

et al. 2016

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Trafficability Assessment of Deformable Terrain through Hybrid Wheel‐Leg Sinkage Detection

Comin

Lewinger

Saaj

et al. 2016

Journal of Field Robotics

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Off-road ground mobile robots are widely used in diverse applications, both in terrestrial and planetary environments. They provide an efficient alternative, with lower risk and cost, to explore or to transport materials through hazardous or challenging terrain. However, nongeometric hazards that cannot be detected remotely pose a serious threat to the mobility of such robots. A prominent example of the negative effects these hazards can have is found on planetary rover exploration missions. They can cause a serious degradation of mission performance at best and complete immobilization and mission failure at worst. To tackle this issue, the work presented in this paper investigates the novel application of an existing enhanced-mobility locomotion concept, a hybrid wheel-leg equipped by a lightweight micro-rover, for in situ characterization of deformable terrain and online detection of nongeometric hazards. This is achieved by combining an improved vision-based approach and a new ranging-based approach to wheel-leg sinkage detection. In addition, the paper proposes an empirical model, and a parametric generalization, to predict terrain trafficability based on wheel-leg sinkage and a well-established semiempirical terramechanics model. The robustness and accuracy of the sinkage detection methods implemented are tested in a variety of conditions, both in the laboratory and in the field, using a single wheel-leg test bed. The sinkage-trafficability model is developed based on experimental data using this test bed and then validated onboard a fully mobile robot through experimentation on a range of dry frictional soils that covers a wide spectrum of macroscopic physical characteristics

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Real-time vision based dynamic sinkage detection for exploration rovers

Cited by 6 publications

References 9 publications

Real-time visual sinkage detection for planetary rovers

Real-time visual sinkage detection for planetary rovers

Vision and Image Processing

Trafficability Assessment of Deformable Terrain through Hybrid Wheel‐Leg Sinkage Detection

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