TY - JOUR
T1 - Development of a behaviour-based control and software architecture for a visually guided mine detection robot
AU - Doroftei, Daniela
AU - Colon, Eric
AU - Baudoin, Yvan
AU - Sahli, Hichem
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Behaviour fusion
KW - Behaviour-based robot control
KW - Image motion analysis
KW - Robot control and software architectures
KW - Robots for risky interventions
KW - Stereo vision
UR - http://www.scopus.com/inward/record.url?scp=77951617996&partnerID=8YFLogxK
U2 - 10.3166/jesa.43.295-314
DO - 10.3166/jesa.43.295-314
M3 - Article
AN - SCOPUS:77951617996
SN - 1269-6935
VL - 43
SP - 295
EP - 314
JO - Journal Europeen des Systemes Automatises
JF - Journal Europeen des Systemes Automatises
IS - 3
ER -