Mobile pneumatic robot for demining

Abstract

The enormous amount of anti-personal land mines scattered over many countries worldwide is a major humanitarian problem asking for an efficient solution at an affordable cost. The article describes a robust and low cost mobile robot that can transport equipment of about 1.5 times its own weight over natural terrains with inclinations superior to 40 degrees. The robot mechanical structure is optimised for precisely scanning large areas of natural environments with land mine detection sensors. The paper also describes the control architecture of the robot with the possibility to correct the motion direction. The land mine sensing system of the robot is presented.