Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

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dc.contributor.authorSaudabayev, Artur
dc.contributor.authorKungozhin, Farabi
dc.contributor.authorNurseitov, Damir
dc.contributor.authorVarol, Huseyin Atakan
dc.date.accessioned2017-11-08T04:45:08Z
dc.date.available2017-11-08T04:45:08Z
dc.date.issued2015-03-22
dc.description.abstractThe performance of a mobile robot can be improved by utilizing different locomotion modes in various terrain conditions. This creates the necessity of having a supervisory controller capable of recognizing different terrain types and changing the locomotion mode of the robot accordingly. This work focuses on the locomotion strategy selection problem for a hybrid legged wheeled mobile robot. Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcontrollers based on the recognized terrain type. For the terrain recognizer, a database is generated consisting of five terrain classes (Uneven, LevelGround, StairUp, StairDown, and Nontraversable). Depth images are enhanced using confidence map based filtering. The accuracy of the terrain classification using Support VectorMachine classifier for the testing database in five-class terrain recognition problem is 97%. Real-world experiments assess the locomotion abilities of the quadruped and the capability of the terrain recognizer in real-time settings. The results of these experiments show depth images processed in real time using machine learning algorithms can be used for the supervisory control of hybrid robots with legged andwheeled locomotion capabilities.ru_RU
dc.identifier.citationSaudabayev Artur et al.(>3), 2015(22 March), Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor, Journal of Sensors, Volume 2015, Article ID 425732, 14 pages.ru_RU
dc.identifier.urihttp://dx.doi.org/10.1155/2015/425732
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/2752
dc.language.isoenru_RU
dc.publisherJournal of Sensorsru_RU
dc.rightsOpen Access - the content is available to the general publicru_RU
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectmobile robotru_RU
dc.subjectlocomotion modesru_RU
dc.subjectrobotru_RU
dc.subjectSupport Vector Machineru_RU
dc.subjecthybridru_RU
dc.subjectFlight Depth Sensorru_RU
dc.titleLocomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensorru_RU
dc.typeArticleru_RU

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