English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/2901
Compartir / Impacto:
Estadísticas
Add this article to your Mendeley library MendeleyBASE
Citado 3 veces en Web of Knowledge®  |  Ver citas en Google académico
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar otros formatos: Exportar EndNote (RIS)Exportar EndNote (RIS)Exportar EndNote (RIS)
Título : Hybrid deliberative/reactive control of a scanning system for landmine detection
Autor : García Armada, Elena ; González de Santos, Pablo
Palabras clave : Landmine detection
Robotics
Robot manipulator
Deliberative/reactive hybrid control
Fecha de publicación : 30-jun-2007
Editor: Elsevier
Citación : Robotics and Autonomous Systems, Vol. 55, pp. 490-497, 2007.
Resumen: Antipersonnel mines infest fields all over the world. According to recent estimates, landmines are killing and maiming more than 2000 innocent civilians per month. The problem of landmine detection and removal requires the cooperation of a number of engineering fields, which in turn poses a need for new technologies, such as improved sensors, efficient manipulators and mobile robots. This paper describes the configuration and control architecture of a scanning manipulator for detecting antipersonnel landmines. The scanning system is part of a demining system based on a walking robot that acts as the carrier for the scanning manipulator. Broadly speaking, the scanning system consists of a sensor head that can detect certain kinds of landmines and, to move the sensor head over large areas, a manipulator that has been appropriately sensorized to scan irregular terrains in the presence of obstacles. The proposed control architecture is of the hybrid deliberative/reactive type: A deliberative controller defines a sweep trajectory that furnishes complete coverage of the infested area, while two reactive controllers are involved in on-line adaptation to the environment. Experiments show good performance of the whole system.
Versión del editor: http://dx.doi.org/10.1016/j.robot.2006.12.001
URI : http://hdl.handle.net/10261/2901
DOI: 10.1016/j.robot.2006.12.001
ISSN: 0921-8890
Aparece en las colecciones: (IAI) Artículos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
RAS_2007_draft2.pdf390,95 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 



NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.