An autonomous all terrain robotic system for field demining missions

作者：Portugal David^*; Cabrita Goncalo; Gouveia Bruno D; Santos David C; Prado Jose A

来源：Robotics and Autonomous Systems, 2015, 70: 126-144.

DOI：10.1016/j.robot.2015.02.013

• Robotic system architecture
• Field and Service Robotics
• Humanitarian demining

Mines deployed in post-war countries pose severe threats to civilians and hamper the reconstruction effort in war hit societies. In the scope of the EU FP7 TIRAMISU Project, a toolbox for humanitarian demining missions is being developed by the consortium members. In this article we present the FSR Husky, an affordable, lightweight and autonomous all terrain robotic system, developed to assist human demining operation teams. Intended to be easily deployable on the field, our robotic solution has the ultimate goal of keeping humans away from the threat, safeguarding their lives. A detailed description of the modular robotic system architecture is presented, and several real world experiments are carried out to validate the robot's functionalities and illustrate continuous work in progress on minefield coverage, mine detection, outdoor localization, navigation, and environment perception.

• 出版日期2015-8