Strategy and development of mine detection robot system

摘要

Humanitarian demining, the peaceful and non-explosive demining strategies, has been gaining worldwide acceptance lately. The Series of humanitarian demining robot development, tele-operated mine detecting robot system was developed. This paper presents the overall outline of the robot system. The system is consisted of rough terrain mobile platform, multi degree of freedom manipulator, and the all in-one mine detecting sensor module between ground penetration radar and metal detector. We have focused on various difficulties that outdoor mine detection field task includes; the rough terrain navigation, obstacle interferences and avoidance, and terrain adaptable manipulator control for maintaining the steady distance of mine detection sensor from the ground for better data acquisition.