Learning to visually predict terrain properties for planetary rovers

For future planetary exploration missions, improvements in autonomous rover mobility have the potential to increase scientific data return by providing safe access to geologically interesting sites that lie in rugged terrain, far from landing areas. This thesis presents an algorithmic framework designed to improve rover-based terrain sensing, a critical component of any autonomous mobility system operating in rough terrain. Specifically, this thesis addresses the problem of predicting the mechanical properties of distant terrain. A self-supervised learning framework is proposed that enables a robotic system to learn predictions of mechanical properties of distant terrain, based on measurements of mechanical properties of similar terrain that has been previously traversed. The proposed framework relies on three distinct algorithms. A mechanical terrain characterization algorithm is proposed that computes upper and lower bounds on the net traction force available at a patch of terrain, via a constrained optimization framework. Both model-based and sensor-based constraints are employed. A terrain classification method is proposed that exploits features from proprioceptive sensor data, and employs either a supervised support vector machine (SVM) or unsupervised k-means classifier to assign class labels to terrain patches that the rover has traversed. A second terrain classification method is proposed that exploits features from exteroceptive sensor data (e.g. color and texture), and is automatically trained in a self-supervised manner, based on the outputs of the proprioceptive terrain classifier.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2009

Author dc:creator

• Brooks, Christopher Allen, 1978-

Advisor dc:contributor.advisor

• Karl Iagemma.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/49557

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/49557