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Erschienen in:
2015 | OriginalPaper | Buchkapitel
Predicting Terrain Traversability from Thermal Diffusivity
verfasst von : Chris Cunningham, Uland Wong, Kevin M. Peterson, William L. “Red” Whittaker
Erschienen in: Field and Service Robotics
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This paper presents a method to predict soil traversability by estimating the thermal diffusivity of terrain using a moving, continuous-wave laser. This method differentiates between different densities of the samematerial, which visionbased methods alone cannot achieve. The bulk density of a granular material has a significant effect on both its mechanical behavior and its thermal properties. This approach fits the thermal response as effected by a laser to an analytical model that is dependent on thermal diffusivity. Experimental soil strength measurements validate that thermal diffusivity is a predictor of traversability for a given material.