Sensor-based ground detection in unstructured terrain for the walking machine ALDURO

Abstract

This work aims at development of a sensor and control system, which allows the walking machine ALDURO to detect and avoid obstacles when moving in unstructured terrain. First a fuzzy model of the sensor that takes in account the sensor uncertainty. Next we show a way to make the fusion of fuzzy output data of all sensors taken in a short period of time. The resulting data set is used to generate a reflex action for the robot in order to avoid the detected obstacles.