Motion planning for a landmine-detection robot |
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Authors: | Kuo-Lan Su Hsu-Shan Su Sheng-Wen Shiao Jr-Hung Guo |
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Affiliation: | (1) School of Mechanical Engineering, The University of Western Australia, 35 Stirling Highway, Crawley, 6009 Perth, Western Australia, Australia;(2) Cognitive Robotics Research Center, Korea Institute of Science and Technology, Hawolgok-dong 39-1, Sungbuk-ku, 136-791 Seoul, Korea;(3) Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, 414 Dougherty Engineering Building, 37996-2210 Knoxville, TN, USA |
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Abstract: | This article describes a landmine-detection system that contains a landmine-detection mobile robot and a following mobile
robot. In this system, the landmine-detection robot goes ahead, and uses a landmine detector and a GPS module to find a landmine,
records the coordinates of its location, and transmits these coordinates to the following mobile robot via a wireless RF interface.
The following robot can record the location and orientation of the landmine-detection robot and all the landmines in the region.
The following robot moves close to the landmine, and programs a path to avoid obstacles and landmines automatically. The driving
system of the landmine-detection mobile robot uses a microprocessor dsPIC 30F4011 as the core, and controls two DC servomotors
to program the motion path. The user interface of the landmine-detection robot and the following robot uses Borland C++ Builder language to receive the location data. In the experimental results, the landmine-detection robot records the location
of landmines using a GPS module, and transmits the locations to the following robot via a wireless RF interface. The following
robot avoids the landmines, and improves the safety of people or materials being carried through the landmine area. |
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