Landmine detection using an autonomous terrain‐scanning robot

Abstract

Purpose Describes a dual‐arm mobile manipulator that can autonomously scan natural terrain using a typical handheld landmine detector in a manner similar to a human operator. Design/methodology/approach Presents a terrain‐scanning robot that consists of two articulated arms mounted on an off‐road remotely operated vehicle. One arm carries a laser and four ultrasonic rangefinders to build a terrain map. The map is used in real time to generate an obstacle‐free path for the second arm that manipulates the landmine detector autonomously. The arms are mounted on the vehicle that is controlled by an operator from a safe distance. Motion planning and control of the robot is carried out using an embedded computer that is linked to a host computer to transmit the detector data and operator commands. Findings Finds that the terrain‐scanning robot can effectively manipulate a relatively large landmine detector on rugged terrain with undulations and obstacles. Research limitations/implications Proposes real‐time motion planning that may be equally applicable to other mobile manipulators. Practical implications Provides a technology that together with state‐of‐the‐art landmine sensors will offer a safe solution for detecting hidden landmines and clearing them from the postwar countries. Originality/value Introduces the concept of a dual‐arm mobile terrain scanning robot for landmine detection in off‐road missions and civilian areas where truck‐mounted detectors are inefficient.