Landmine detection using an autonomous terrain-scanning robot

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.