Robotics: Science and Systems II

Slip Prediction Using Visual Information

A. Angelova, L. Matthies, D. Helmick, P. Perona

Abstract: This paper considers prediction of slip from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering a particular terrain can be very useful for better planning and avoiding terrains with large slip. The proposed method is based on learning from experience and consists of terrain type recognition and nonlinear regression modeling. After learning, slip prediction is done remotely using only the visual information as input. The method has been implemented and tested ofine on several off-road terrains including: soil, sand, gravel, and woodchips. The slip prediction error is about 20 of the step size.



    AUTHOR    = {A. Angelova and L. Matthies and D. Helmick and P. Perona},
    TITLE     = {Slip Prediction Using Visual Information},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2006},
    ADDRESS   = {Philadelphia, USA},
    MONTH     = {August},
    DOI       = {10.15607/RSS.2006.II.014}