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Author:
Mou, Wei (University of Freiburg) (Foundations of Artificial Intelligence)
Kleiner, Alexander (University of Freiburg)
Title:
Online Learning Terrain Classification for Adaptive Velocity Control
Publication type:
Conference paper (Refereed)
Language:
English
In:
In Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)
Pages:
1-7
Year of publ.:
2010
URI:
urn:nbn:se:liu:diva-72527
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72527
Subject category:
Robotics
Abstract(en) :

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.

Available from:
2011-11-28
Created:
2011-11-28
Last updated:
2011-11-29
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