Vibration and Image Texture Data Fusion-Based Terrain Classification Using WKNN for Tracked Robots

Abstract

For terrain recognition needs during vehicle driving, this paper carries out terrain classification research based on vibration and image information. Twenty time-domain features and eight frequency-domain features of vibration signals that are highly correlated with terrain are selected, and principal component analysis (PCA) is used to reduce the dimensionality of the time-domain and frequency-domain features and retain the main information. Meanwhile, the texture features of the terrain images are extracted using the gray-level co-occurrence matrix (GLCM) technique, and the feature information of the vibration and images are fused in the feature layer. Then, the improved weighted K-nearest neighbor (WKNN) algorithm is used to achieve the terrain classification during the travel process of tracked robots. Finally, the experimental results verify that the proposed method improves the terrain classification accuracy of the tracked robot and provides a basis for improving the stable autonomous driving of tracked vehicles.