Autonomous navigation robot for landmine detection applications

M. Jaradat, M. Banisalim, F. Awad
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引用次数: 29

Abstract

Modern robotic technologies have provided efficient solutions to protect workers from hazards in the work environments; such as radioactive, toxic, or explosive. This paper presents a design of a holonomic mobile robot for rough terrain that can replace the human role in the demining applications. A suspension system based on the bogie mechanism was adopted in order to overcome rough terrains. The flexible design of the robot enables it to move in any direction at any instant without changing the orientation of the body. The motion of the robot was simulated using the Pro-Engineer software and the robot stability margins for different road conditions were found in order to predict the possibility of tipping-over before any maneuver.
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用于地雷探测的自主导航机器人
现代机器人技术为保护工人免受工作环境中的危害提供了有效的解决方案;如放射性的、有毒的或爆炸性的。提出了一种能代替人在崎岖地形上排雷的完整移动机器人的设计方案。为了克服崎岖的地形,采用了基于转向架机构的悬挂系统。机器人的柔性设计使其能够在不改变身体方向的情况下,在任何时刻向任何方向移动。利用Pro-Engineer软件对机器人的运动进行了仿真,得到了机器人在不同路况下的稳定裕度,以便在任何机动之前预测机器人倾覆的可能性。
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