Mobile Pneumatic Robot for Demining

AbstmctThe enormous amount of anti-personal land mines scattered over many countries worldwide is a major humanitarian problem asking for an efRcient solution at an affordable cost. This article describes a new robust and low cost mobile robot that can transport equipment with about 1.5 its own weight over natural terrains with inclinations superior to 40 degrees. The robot mechanical structure is optimised for precisely scanning large areas of natural environments with land mine detection sensors. The paper also describes the control architecture of the robot with possibility to correct the motion direction. The land mine sensing system of the robot is presented.