期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2007
卷号：4
期号：2
DOI：10.5772/5699
语种：English
出版社：SAGE Publications
摘要：In the context of humanitarian demining it is essential to have a reliable and accurate sensor or an integration of heterogeneous/homogeneous sensors with efficient and reliable data fusion and processing techniques. In addition, it is necessary to overcome the constrain on the resources to speed up the demining process in terms of time, cost, and safety enhancement of personnel and operation. A portable handheld mine detection approach to sensor movement is slow and hazardous for individual deminers. Armored vehicles may not thoroughly protect the occupants and may be of only limited usefulness in off-road operations. Robotized solutions with effective sensing capabilities properly sized with suitable modularized mechanized structure and well adapted to local conditions of minefields can greatly improve the safety of personnel as well as work efficiency and flexibility. Such intelligent and flexible machines can speed the clearance and perform verifying processes when used in combination with handheld mine detection tools. Furthermore, the use of many robots working and coordinating their movement will improve the productivity of the overall mine detection process through the use of team cooperation and coordination. This paper evaluates the available mine clearance technologies and disscusses their development efforts and limitations to automate tasks related to demining process. In addition, it introduces technical features and design capabilities of a mobile platform needed to accelerate the demining process and achieve safety with cost effective measures.
关键词：humanitarian demining; mine detection; demining robots; mechanical demining; service robots
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