Terrain parameter identification for wheeled mobile robots using deep neural networks

This paper introduces an innovative approach to soil parameter estimation using deep artificial neural networks (ANN) tailored to estimate a wide range of soil types. Previous research in this field has relied on limited datasets and oversimplified assumptions in semi-empirical models. In this work, the sensitivity of stress distribution is analyzed with respect to soil parameters, revealing significant errors resulting from the simplifications in semi-empirical models and emphasizing the need for more accurate estimation methods with minimal reliance on simplifying assumptions. Training an ANN requires a comprehensive dataset, which has been a challenge due to limited access to diverse soil samples. Addressing this issue, the paper conducts simulations of a single wheel's movement across a wide range of soil parameter combinations to generate the required dataset. These simulations are done using a dynamic motion-compliant semi-empirical model detailed in the article. Subsequently, the network's hyperparameters are fine-tuned through a grid search, followed by extensive training of the optimized ANN model. In the end, the ANN demonstrates promising performance in accurately estimating soil parameters, validated through simulation results of both single wheel and Mars rover motion.