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2 August 1999 Articulated robotic scanner for mine detection: a novel approach to vehicle-mounted systems
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Conventional vehicle-mounted mine detector system employ an array of sensor elements to achieve a detection swath. Some systems employ more than one type of sensor technology. These systems, while being very useful, are often expensive, complex and inflexible. A human operator, on the other hand, sweeps a mine detector from side to side while moving forward to cover ground. The operator can follow the ground profile with the detector head close to the ground without hitting the ground or any objects on it. She can also vary the width of sweep to suit a particular situation, and is usually not limited by terrain. In this paper we present the concept and early prototype of a system that incorporates the advantages of the two methods described above while minimizing the disadvantages of both. For example, it will have the flexibility of a manual system with the rapid and safer mechanized scanning of the vehicle-mounted system but at a reduced cost, size and overall system complexity, when compared to existing approaches. Our approach uses an articulated robotic device capable of automatically moving mine detection sensor over natural ground surfaces including roads and tracks in a manner similar to a human operator. The system can also easily be used to place a confirmatory point sensor at a specific location if needed. The early prototype, which incorporates only a metal detector for a mine sensor, implements ground following by using a laser range finder and four ultrasonic sensors.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yogadhish Das, Kevin L. Russell, Nenad Kircanski, and Andrew A. Goldenberg "Articulated robotic scanner for mine detection: a novel approach to vehicle-mounted systems", Proc. SPIE 3710, Detection and Remediation Technologies for Mines and Minelike Targets IV, (2 August 1999);


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