Motion Planning and Man-Machine Interface of a Landmine Detection Robot

• Main Authors: Yong-sin Tu, 涂永昕
• Other Authors: none
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/62127250589667221099

碩士 === 雲林科技大學 === 電機工程系碩士班 === 98 === The thesis develops a mobile robot system that contains a landmine-detection robot and an avoidable robot, let the mobile robot pass through the landmine zone quickly and safely when financial capability and manpower is inadequate to remove the landmine.In this system, the landmine-detection robot go first, and use metal detector and GPS module to find out landmines and record the coordinate location, and transmit the landmine’s coordinate to avoidable robot by wireless RF module, the following robot can print the location and orientation of these landmines on the path, when the following robot move to the landmine, and can avoid automatically. The designed system uses a microprocessor dsPIC 30F4011 as the core to control the motor drives, and designed a Borland C++ Builder interface to receive the data that GPS module transmit back and calculate rather complicated arithmetic to make the robot travel automatically.