Online Learning Terrain Classification for Adaptive Velocity Control
Mou, Wei Kleiner, Alexander 2010 (English)In: In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR), 2010, 1-7Conference paper (Refereed)
Safe teleoperation during critical missions, such as urban search and rescue and bomb disposal, requires careful velocity control when different types of terrain are found in the scenario. This can particularly be challenging when mission time is limited and the operator’s field of view affected. This paper presents a method for online adapting robot velocities according to the terrain classification from vision and laser readings. The classifier adapts itself to illumination variations, and can be improved online given feedback from the operator.
IdentifiersURN: urn:nbn:se:liu:diva-72527DOI: 10.1109/SSRR.2010.5981563OAI: oai:DiVA.org:liu-72527DiVA: diva2:460001