机器人2012，Vol.34Issue(6)：660-667,8.DOI:10.3724/SP.J.1218.2012.00660
基于振动采用支持向量机方法的移动机器人地形分类
Vibration-based Terrain Classification for Mobile Robots Using Support Vector Machine
摘要
Abstract
In order to enhance terrain classification accuracy of mobile robots, a feature extraction method is proposed based on time amplitude domain analysis, and a new voting decisions classification algorithm is proposed to deal with the situation of same number of votes via one-against-one support vector machine (SVM) program in LIBSVM. A four-wheeled mobile robot on which arm accelerometers in x, y, z directions and a microphone in z direction are installed in left front wheel, is used to get the acceleration and sound pressure signals of wheel-terrain interaction by traversing on sand, gravel, grass, soil and asphalt terrains with six different velocities respectively. Five kinds of terrains in each velocity are classified by the proposed algorithm, and the average classification accuracy is 88.7%.关键词
移动机器人/地形分类/振动/支持向量机Key words
mobile robot/ terrain classification/ vibration/ support vector machine分类
信息技术与安全科学引用本文复制引用
李强,薛开,徐贺,潘文林,王天龙..基于振动采用支持向量机方法的移动机器人地形分类[J].机器人,2012,34(6):660-667,8.基金项目
国家自然科学基金资助项目(60775060) （60775060）
黑龙江省自然科学基金资助项目(F200801) （F200801）
高等学校博士学科点专项科研基金资助项目(200802171053,20102304110006) （200802171053,20102304110006）
哈尔滨市科技创新人才研究专项基金资助项目(2012RFXXG059). （2012RFXXG059）
