Development of a behaviour-based control and software architecture for a visually guided mine detection robot

Daniela Doroftei, Eric Colon, Yvan Baudoin, Hichem Sahli

Research output: Contribution to journalArticlepeer-review

Abstract

Humanitarian demining is a labor-intensive and high-risk which could benefit from the development of a humanitarian mine detection robot, capable of scanning a minefield semiautomatically. The design of such an outdoor autonomous robots requires the consideration and integration of multiple aspects: sensing, data fusion, path and motion planning and robot control embedded in a control and software architecture. This paper focuses on three main aspects of the design process: visual sensing using stereo and image motion analysis, design of a behaviour-based control architecture and implementation of a modular software architecture.

Original languageEnglish
Pages (from-to)295-314
Number of pages20
JournalJournal Europeen des Systemes Automatises
Volume43
Issue number3
DOIs
Publication statusPublished - 2009

Keywords

  • Behaviour fusion
  • Behaviour-based robot control
  • Image motion analysis
  • Robot control and software architectures
  • Robots for risky interventions
  • Stereo vision

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