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 language | English |
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Pages (from-to) | 295-314 |
Number of pages | 20 |
Journal | Journal Europeen des Systemes Automatises |
Volume | 43 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2009 |
Keywords
- Behaviour fusion
- Behaviour-based robot control
- Image motion analysis
- Robot control and software architectures
- Robots for risky interventions
- Stereo vision