Landmines detection by mobil robots

Landmines are dangerous problem that threats people lives and causes economic problems. Landmines are harmful because of their unknown locations and difficulty to detect them. There are more than active 100 million landmines in the world. Detecting and clearing mines demands specific expertise. There are many techniques were used to detect landmines and clear them. The robotic method was an effective technique that solved the risks on human operators. This thesis studies strategies for humanitarian demining using robotic units. We present a low-cost system for landmines detection. The proposed system uses fusion of low cost multi sensors instead of using very expensive one. The proposed robot used sensor fusion technique to increase the probability of mine detection. We have developed decision level fusion to decrease false alarm of mines detection. We used complete coverage path planning to find all possible mines in the environment.We proposed using multiple robots with the same structure to use complete coverage path in parallel way to save the time.We proposed effective obstacle avoidance algorithm to help the robot moves in autonomous motion.