AUTONOMOUS NAVIGATION ROBOT FOR LANDMINE DETECTION APPLICATIONS

Introduction:
Antipersonnel mines may exist in any environments near human beings and threat their lives. It is more difficult to detect and remove these mines especially if they exist in unstructured environments or if they are close to crop fields. According to the United Nation statistics, more than 100 million landmines exist in the ground in more than 60 countries causing 10,000 deaths and 20,000 injuries annually. The mine clearance cost is greater than the budget of poor countries that suffer from mines. In addition, this operation is usually performed manually, which is slow and dangerous. Therefore, demining robots have been used to perform such dangerous task instead of humans. The existing demining robots have limited maneuverability, which does not allow the robot to navigate within the environment easily. To get high maneuverability, some robots use Omni directional wheels or differential steering type. However, these mechanisms cannot work well in rough environments since they lack the suspension system or any other mechanisms that guarantee the stability. On the other hand, legged demining robots were used since they show high maneuverability in unstructured environments. However, they require high control effort besides the fear from tipping-over.

Existing System:
Most of the robots are too huge and heavy to carry out such tasks in some narrow areas of city such as narrow aisles of buildings or pipelines of factories. To avoid this navigation robot with mine sensor is designed.

Proposed System:
Reduction of the human activities in dangerous environment is the first objective of employing the autonomous mobile robots in many applications. Mine detection is a risky action that can be done by either human or robot. Here we design a robot with ultrasonic sensor, minesweeping sensor and Zigbee wireless communication. The robot uses the ultrasonic sensor for detecting obstacle found in its path; mine sweeping sensor is used to detect the mine in the

field. After detecting the mine the controller sends the alarm message to monitoring center using Zigbee communication. From PC the robot can be monitored, controlled and moves to desired destination.

Block Diagram: Robot Section:

Power supply

CCTV

Ultrasonic Sensor

Motor Driver
AT89C51 Microcontroller

R O B
Motor Driver

Mine Detection Sensor

O T

Signal Conditioning Circuit LCD Display

Control Unit:

Hardware Requirements:
AT89C51 Microcontroller Ultrasonic Sensor Mine Detection Sensor LCD Display Max232 Zigbee Transceiver Motor Driver Robot Mechanism

Software Requirements:
Embedded C MPLAB or CCS Compiler

Advantages:
It can search in narrow areas for detection of dangerous materials.

Robot design will be small.