Robotic Landmine Clearing Software
The heart of the prototype system is custom developed JAVA software ©. The software
- devises a path for the landmine-clearing vehicle to follow,
- gathers vehicle state information from various sensors (GPS, INS, etc.),
- uses a kalman filter to calculate the best estimate of the current vehicle state given measurements from the sensors,
- steers the vehicle towards its goal using a proportional, integral, derivative (PID) controller,
- displays a real-time map showing the current position of the vehicle and the ground covered by its clearance apparatus to a user specified tolerance level,
- stores a record of the landmine clearance task for future examination, and,
- can be configured for different types and sizes of landmine-clearing vehicles.