System for rugged surface detection based on MEMS inertial sensor signals analysis

Daniel Paczesny , Adrian Ratajczyk , Zbigniew M. Wawrzyniak , Grzegorz Tarapata

Abstract

The paper reports an application of the accelerometer for the sensing of rugged surface detection. MEMS accelerometers were investigated for steering control of the autonomous floor-cleaning robot to perform cleaning. Accelerometer signals were used to support signals from other ultrasound and vision sensors to detect the type of the floor and distinguish between rough and smooth floor. The main aim of the developed control system for an autonomous robot was to improve the detection of the floor type and investigate the use of the accelerometer for solving this problem. The test results have shown that the proposed system can be equipped with accelerometer sensor and reduce the error detection for floor type during cleaning.