Cooperative Unmanned Air and Ground Vehicles for Landmine Detection

摘要

The unmanned aerial vehicle used in this research is multi-functional quadcopter with infrared camera and Ground Penetrating Radar (GPR). The unmanned aerial vehicle detects the landmines using infrared camera and GPR; maps a pin in digital map for future use by ground vehicle. The ground vehicle used in this research is Belarus132N mobile robot. It has the following onboard sensors: stereo pair camera, GPS, and image processing system. The ground vehicle will use onboard sensors: stereo pair camera, GPS and the map provided by the quadcopter to traverse the region, and locate the mapped landmines. The base station consists of a laptop that provides a communication link between the aerial and ground vehicle systems and for saving information from any destruction. This proposed system will demonstrate how an air-ground vehicle system use to cooperatively detect, locate and traverse of landmines.