A novel detection and navigation approach based on OWA fusion method

摘要

Purpose The purpose of this paper is to design and implement a landmine detection robot (Venus) equipped with three electromagnetic sensors and controlled by ordered weighted averaging (OWA) sensor fusion approach. Higher numbers of detected mines in a fixed time interval and lower total power consumption are the achieved goals of this research. Design/methodology/approach OWA sensor fusion is exploited for data combination in this paper. Unlike most other landmine detection robots, Venus has three electromagnetic sensors, the positions of which can be adjusted according to the environmental conditions. Also, a novel approach for OWA weight dedication using Gaussian distribution function is applied and the whole idea is evaluated practically in several randomly mined fields. Finally, for better evaluation, performance of Venus is compared with the other two landmine detection robots. Findings The simulation and experimental results proved that in a predetermined interval of time, not only total energy consumption is reduced, but also by expanding the surface and the depth of influence of electromagnetic waves, the number of detected mines is considerably raised. Social implications In contrast to the regular demining process, which is relatively expensive and complicated, the landmine detection method proposed in this research is surprisingly simple, cost effective, and efficient. Therefore, it may be attractive for every company or organization in this field of research. Originality/value The paper describes research which implements and evaluates a novel control approach based on OWA sensor fusion method, a new way of using Gaussian distribution function for determining OWA weights, and also an adaptive physical configuration for sensors based on environmental conditions.