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Título: | Obtaining terrain maps and obstacle contours for terrain recognition tasks |
Autor: | Ponticelli, Roberto CSIC; González de Santos, Pablo | Palabras clave: | Contact force range sensor Contour following obstacle detection terrain recognition |
Fecha de publicación: | 2010 | Editor: | Elsevier | Citación: | Mechatronics | Resumen: | Effective automatic terrain recognition in a natural environment is a challenging task. The work presented in this article, part of the results obtained in a six-year project devoted to the development of a hexapod robot for humanitarian demining missions, aims at ¯nding a simple, reliable terrain-recognition solution based on a sensor head, a device that is associated with a landmine detector and is employed to gather terrain-related data. The goal is to construct a processed representation of the main terrain features as an obstacle-contour and terrain-elevation map. The methods and algorithms presented herein have been tested in a fully operative robot composed of several subsystems. | Versión del editor: | http://dx.doi.org/10.1016/j.mechatronics.2009.11.008 | URI: | http://hdl.handle.net/10261/37385 | DOI: | 10.1016/j.mechatronics.2009.11.008 |
Aparece en las colecciones: | (IAI) Artículos |
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