Design And Development of Autonomous Mobile Robot (AMR) For Land Mine Detection Using Robot Operating System

Increasing concern over unexploded landmines in war- torn areas necessitates the creation of safe and dependable detection systems. In this paper, an Autonomous Mobile Robot (AMR) for landmine detection is designed and implemented using the Robot Operating System (ROS). The system is designed to employ a collection of sensors, including a metal detector, LiDAR, GPS, and encoders, to map and navigate the terrain independently. Real-time mapping and localization are achieved through Hector SLAM in the robot design implemented in ROS. A URDF model of the robot is created and simulated using Gazebo to test and validate the design before actual implementation. The prototype can detect metallic objects as it moves autonomously, thus reducing human exposure in risk areas. Experimental results affirm the effectiveness of the system in simulated environments, which offers a window for implementation in minefields in the near future.