An articulated robotic scanner for mine detection - a novel approach to vehicle mounted systems Y. Das a , K. Russell a , N.Kircanski b and A.A.Goldenberg b a Defence Research Establishment Suffield, Box 4000, Medicine Hat AB, Canada,T1A 8K6 b Engineering Services Inc., 5 King's College Rd, Toronto, ON, Canada, M5S 3G8 ABSTRACT Conventional vehicle-mounted mine detector systems employ an array of sensor elements to achieve a detection swath (typically 2 - 4m wide). Some systems employ more than one type of sensor technology. These systems, while being very useful, are often expensive, complex and inflexible. A human operator, on the other hand, sweeps a mine detector from side to side while moving forward to cover ground. The operator can follow the ground profile with the detector head close to the ground without hitting the ground or any objects on it. She can also vary the width of sweep to suit a particular situation, and is usually not limited by terrain. In this paper we present the concept and early prototype of a system that incorporates the advantages of the two methods described above while minimising the disadvantages of both. For example, it will have the flexibility of a manual system with the rapid and safer mechanized scanning of the vehicle-mounted systems but at a reduced cost, size and overall system complexity, when compared to existing approaches. Our approach uses an articulated robotic device capable of automatically moving mine detection sensors over natural ground surfaces including roads and tracks in a manner similar to a human operator. The system can also easily be used to place a confirmatory point sensor at a specific location if needed. The early prototype, which incorporates only a metal detector for a mine sensor, implements ground following by using a laser range finder and four ultrasonic sensors. Keywords: landmine detection, vehicle mounted mine detection, robotics, metal detection, sensor plat- forms 1. INTRODUCTION There is a need for landmine detection equipment that can sweep large surfaces such as roads at a reason- able speed with a reduced logistic burden and hazard level. In response to this need, various vehicle- mounted systems have been developed over the years worldwide. 1–6 Under the US Army's Vehicle Mounted Mine Detection/Ground Standoff Mine Detection System Advanced Technology Demonstra- tion (VMMD/GSTAMIDS ATD) program five vehicle-mounted systems 7 from different companies were Further author information:(Send correspondence to Y.D.) Y.D.:E-Mail:Yoga.Das@dres.dnd.ca; T/F:+[1](403)-544-4738/4704 Supported by the Defence Research and Development Branch, National Defence, Canada, Project 2MB