Proceedings of 3rd IFToMM ITALY. IFToMM ITALY Conference (IFIT-2020) September 9 Online n.n. 9/2020.
The success of a science mission in the context of
surface planetary exploration is tightly connected with the
rover's ability to detect the type of supporting surface. This
research aims to develop a general approach to address the
terrain awareness issue relying entirely on proprioceptive
sensing, i.e. measuring motion states and parameters dependent
on the way the vehicle interacts with the terrain.
Relevant proprioceptive features are analyzed in terms of
ability in discriminate terrain types towards the development
of a ground classifier that can work on-line during
regular operations. Experimental data obtained from the
exploration rover Sherpa TT are used for field validation of
the proposed approach.