A Study on the Effective Scanning Trajectory using Manipulator for Underground Object Detection |
Myung-Chun Lee, Ho-Cheol Shin, Jong-Hoon Yoon |
1 2KAERI 3 |
매니퓰레이터를 이용한 지하 매설물 탐지의 효율적 탐지경로에 관한 연구 |
이명천, 신호철, 윤종훈 |
1국방과학연구소 2한국원자력연구원 3대전대학교 |
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Abstract |
This paper shows an effective scanning trajectory for a mine detection device that is one of the mission equipments of unmanned ground vehicle. The mine detection device is composed of a mine-detection sensor, and a 4 DOF manipulator enabling sensor position control. There are three modes that manage the mine detection device: passive, semi-automatic, and automatic. The automatic mode is used the most. This paper suggests a scanning method that makes shape of 8. This method prevents missing target area and enhances scanning speed when the mine detection device scans the ground surface in automatic mode. The suggested method is verified by simulations and experiments. |
Key Words:
Mine-Detect Sensor, Ultra-Sonic Sensor, Manipulator, Scanning Trajectory, Unmanned Ground Vehicle |
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