Teodor: A Semi-Autonomous Search and Rescue and Demining Robot

摘要

In this paper, we present a ground robotic system which is developed to deal with rough outdoor conditions. The platform is to be used as an environmental monitoring robot for 2 main application areas: - Humanitarian demining: The vehicle is equipped with a specialized multi-channel metal detector array. An unmanned aerial system supports it for locating suspected locations of mines, which can then be confirmed by the ground vehicle. - Search and rescue: The vehicle is equipped with human victim detection sensors and a 3D camera enabling it to assess the traversability of the terrain in front of the robot in order to be able to navigate autonomously. The paper discusses both the mechanical design of these platforms as the autonomous perception capabilities on board of these vehicles.