Main Project Goals :

-   Wireless PC control of mobile vehicle.

-         Mine detection through fusion between metal detector

    & GPR.

Project Subsystems:

1.     Frame:

1.1.Mechanical structure :

1.1.1        initial version.

1.1.2        Final version.

1.2.Motors :

            1.2.1.DC motors for motion.

1.2.2.Stepper motors for sonar & metal detector.

2.     Motion Control :

2.1.Pulse Width Modulation (PWM).

2.2.Fuzzy implementation.

2.3.Control circuits (H-bridge, motor drive)  

3.     RF Communication :

For wireless communication between robot and computer using proprietary protocol (Robot Control Protocol RCP). Messages exchanged: Robot status, control messages, metal & obstacle notification. Etc.

                   4. Sensors :

4.1.Compass:

 For measuring deviation angle from North.

4.2. Infra red:

 For measuring linear motion.

4.3. Sonar:

 For obstacle avoidance.

4.4. Metal detector:

For metal detection and eventually mine detection.

          4.5.GPR:

                  For capturing subsurface images

5.Software:

                               5.1. On micro-controller:

                                                5.1.1. Operating System

                                                5.1.2. Automatic motion thread

                                                5.1.3. Avoidance thread

                                                5.1.4. Manual control thread

                                                5.1.5. Metal detector thread

                                                5.1.6. Return to base thread

                                    5.2. On computer:

                                                5.2.1. Event synchronizer

                        5.2.2. Manual control.

                        5.2.3. Map formation & drawing.

5.2.4. Log file to save mine locations

5.2.5. AStar algorithm for returning to base

6. Image Processing:

            6.1. GPR image decoding

            6.2. Image filtering

            6.3. Feature estimation

            6.4. Feature extraction

            6.5. Neural network training

            6.6. Using neural network to determine object type

Conclusion:

Producing mobile robot 80cm long  40cm wide 40cm high with metal detector at front end , the robot will avoid mine or obstacle whenever needed. A map on the base computer is constantly updated with robot location with respect to terrain. The option of manual control from base station is also present.