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Parabola estimation and noise removable process for detection of buried mine like objects

Salient Features of the Unmanned Mine Detection and Marking System

Operating conditions                          All weather, day and night

Speed during mission                          Upto 40 km/h (depends upon soil condition, depth and type of mines)
Vehicle stand-off distance                    1.5 m
Primary detector                              GPR
Type of mines detected                        AP, AT and IEDs (metallic or non-metallic)
Depth of mines                                Surface to 2 m (depends upon soil condition, depth and type of mines)
Deployment of GPR                             Using a robotic manipulator arm of 6 DOF
Secondary sensor                              VDS
Deployment of VDS                             Using a robotic arm of 5 DOF
Marking of mine/IED                           Spray of white paint

Software framework                            JAUS over Linux

Autonomous Navigation                         efficiency and execution speed. Thus two    obstacles with respect to the vehicle.
Module                                        types of path planning are used in ANS:     Based on the size of the obstacle and
                                              the global path planning and the local      the safe region defined around each
    Autonomous Navigation System              path planning.                              obstacle, an alternate path is planned
(ANS) is a cutting-edge technology for the                                                by the local path planning algorithm.
autonomous navigation of vehicles. This           The global path planning involves the   Once the obstacle is avoided, the vehicle
module provides a limited autonomous          generation of alternate paths between the   moves back into the pre-planned path
navigation capability to the UGV. Based       GPS way points. The optimum path is         given by the global path planner.
on a given sequence of GPS way points,        then selected based on a cost map, which
the vehicle automatically navigates from      is essentially the degree of difficulty of      For the ANS, the software was
the start location to the destination         each path.                                  developed by CAIR and the hardware
location by following all the defined GPS                                                 was developed by CVRDE. The vehicle
way points in between.                            The local path planning is used to      navigation commands (steering,
                                              avoid obstacles in the path and get the     accelerator, brake, etc.) was generated
    It also has the capability to detect and  UGV back to the planned path. The           by the ANS software and forwarded to
avoid obstacles in the path. The crux of      detection of the obstacles is done using a  the DBW controller.
the ANS is the path planning algorithms,      sensor suite on the vehicle, consisting of
                                              2D and 3D LIDARs.                               The DBW controller finally controls
                                                                                          the vehicle driving system (steering,
                                                  The LIDARs give the location of the

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