Modular countermine payload for small robots

Herman Herman; Doug Few; Roelof Versteeg; Jean-Sebastien Valois; Jeff McMahill; Michael Licitra; Edward Henciak

doi:10.1117/12.852630

29 April 2010 Modular countermine payload for small robots

Herman Herman, Doug Few, Roelof Versteeg, Jean-Sebastien Valois, Jeff McMahill, Michael Licitra, Edward Henciak

Proceedings Volume 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV; 76641D (2010) https://doi.org/10.1117/12.852630
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Citation Download Citation

Herman Herman, Doug Few, Roelof Versteeg, Jean-Sebastien Valois, Jeff McMahill, Michael Licitra, and Edward Henciak "Modular countermine payload for small robots", Proc. SPIE 7664, Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV, 76641D (29 April 2010); https://doi.org/10.1117/12.852630

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