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

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


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.
Author Daniel Paczesny (FEIT / PE)
Daniel Paczesny,,
- The Institute of Electronic Systems
, Adrian Ratajczyk (FEIT / PE)
Adrian Ratajczyk,,
- The Institute of Electronic Systems
, Zbigniew M. Wawrzyniak (FEIT / PE)
Zbigniew M. Wawrzyniak,,
- The Institute of Electronic Systems
, Grzegorz Tarapata (FEIT / PE)
Grzegorz Tarapata,,
- The Institute of Electronic Systems
Publication size in sheets0.5
Book Romaniuk Ryszard (eds.): Proc. SPIE. 10031, Photonics Applications in Astronomy, Communications, Industry, and High-Energy Physics Experiments 2016, vol. 10031, 2016, P.O. Box 10, Bellingham, Washington 98227-0010 USA , SPIE , ISBN 9781510604858, [781510604865 (electronic) ], 1170 p., DOI:10.1117/12.2257157
Keywords in EnglishMicroelectromechanical systems ; Sensors ; Robots ; Control systems ; Ultrasonography ; Vision
Languageen angielski
100311L.pdf 3.19 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 09-06-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 09-06-2020, BookChapterMatConfByConferenceseries
Publication indicators WoS Citations = 0; Scopus Citations = 0
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