机器人2017，Vol.39Issue(1)：57-62,6.DOI:10.13973/j.cnki.robot.2017.0057
基于静电感应信号的路面识别方法
A Road Identification Method Based on Electrostatic Induction Signal
摘要
Abstract
A novel method for material identification based on electrostatic signal detection technology is presented. 4 kinds of typical roads, i.e. brick, sand, grass and asphalt, which can be often encountered in outdoor environment, are effectively identified using the proposed method. The induced charge change on robot foot is analyzed by establishing an equivalent model for the contact/separation process between the robot foot and the road surface. The simulation result shows that there are obvious differences in the discharge of surface charge of different pavement materials. Based on that, a special structure of measurement platform is proposed for simulation of contact and separation between robot foot and roads. 4 kinds of road surface electrostatic signals are collected, and the feature value of the signal is extracted as the classifier parameter. The k-nearest neighbor classifier is used to classify the road surface electrostatic signals. The result shows that the overall recognition rate is about 83.3%.关键词
路面识别/静电感应/放电特性/k最近邻算法Key words
road identification/electrostatic induction/discharge property/k-nearest neighbor algorithm分类
信息技术与安全科学引用本文复制引用
朱里程,李鹏斐,李孟轩,唐凯,李静楠,陈曦..基于静电感应信号的路面识别方法[J].机器人,2017,39(1):57-62,6.基金项目
国家自然科学基金(51407009). （51407009）
