INVESTIGADORES
DE MARZIANI Carlos Manuel
artículos
Título:
Advanced Adaptive Sonar for Mapping Applications
Autor/es:
A. HERNÁNDEZ; J. UREÑA; J. J. GARCÍA; A. JIMÉNEZ; J. A. JIMÉNEZ; M. C. PÉREZ; F. J. ÁLVAREZ; C. DE MARZIANI; J. P. DÉRUTIN; J. SÉROT
Revista:
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Editorial:
SPRINGER
Referencias:
Año: 2009 vol. 53 p. 81 - 106
ISSN:
0921-0296
Resumen:
An advanced adaptive sonar module is described, capable of being configured to different circumstances and distances according to reflectors found in the environment. Thanks to the sensory distribution, it is possible to identify three basic types of reflector (planes, edges and corners). Furthermore, a heuristic map of the environment is built. The proposed methods have been computationally optimized, and implemented in a real-time system based on a Field-Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP). Results have been obtained in the detection, classification and mapping of obstacles; and finally testing has been carried out on a commercial vehicle.
