Publikation
Implementation of an On-Board Terrain Classfier Based on Propioceptive Sensor Data for a Planetary Rover
Raúl Domínguez; Lennart Kuhr; Jonathan Babel; Florian Cordes; Giulio Reina; Frank Kirchner
In: keine Angabe; keine Angabe (Hrsg.). Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2022), June 1-2, ESA-ESTEC, Noordwijk, the Netherlands, Netherlands, ESA Conference Bureau / ATPI Corporate Events, 6/2022.
Zusammenfassung
The implementation of a Support Vector Machine based
terrain classifier for the hybrid locomotion rover Sher-
paTT is presented. In the first phase of classification the
physical characteristics of the traversed terrain are statis-
tically derived from proprioceptive data (i.e. engineered
features). The features are then used by the classifier to
distinguish between three different surface types: sand,
compact sand and concrete. Based on previous offline
studies [7] the terrain classifier has been integrated into
the control architecture of the rover, as well as deployed
and tested in analog environment. The software compo-
nent runs completely on the on-board computer (OBC)
of SherpaTT, embedded within the Robotics Construc-
tion Toolkit (Rock)1 framework. Insights on the imple-
mentation and the software architecture surrounding the
classifier are provided. Performance metrics demonstrate
that the terrain classifier can run in parallel with the rest
of the control software on the OBC, achieving an overall
high accuracy in terrain classification.