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Proceedings Paper

Semi autonomous mine detection system
Author(s): Doug Few; Roelof Versteeg; Herman Herman
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Paper Abstract

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

Paper Details

Date Published: 29 April 2010
PDF: 11 pages
Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641A (29 April 2010); doi: 10.1117/12.852639
Show Author Affiliations
Doug Few, Idaho National Lab. (United States)
Roelof Versteeg, Idaho National Lab. (United States)
Herman Herman, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 7664:
Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV
Russell S. Harmon; John H. Holloway; J. Thomas Broach, Editor(s)

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