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Title

Obtaining terrain maps and obstacle contours for terrain recognition tasks

AuthorsPonticelli, Roberto ; González de Santos, Pablo
Keywordscontact force
range sensor
contour following
obstacle detection
terrain recognition
Issue Date2010
PublisherElsevier
CitationMechatronics
AbstractEffective 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.
Publisher version (URL)http://dx.doi.org/10.1016/j.mechatronics.2009.11.008
URIhttp://hdl.handle.net/10261/37385
DOI10.1016/j.mechatronics.2009.11.008
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