To demonstrate this ability, we began construction of our demining robot. Finder carries 16 ultrasonic sensors for obstacle detection and avoidance and a positioning device for coverage. Ultrasound was chosen over infrared for collision detection as Finder must operate outside, where the Sun saturates all infrared sensors. For mine detection, we will equip Finder with a standard metal detector. This may seem a naive choice for the most safety-critical sensor on the robot, but as our focus is on path planning and coverage, we feel justified in leaving more sophisticated mine detectors to others.
Finder is in any case upgradeable as improved sensors are developed.
The obstacle sensors, motors, and localization are driven by a set of embedded computers on board Finder. A second Pentium SBC is used by the visual localization system. Sensor Based Coverage of Unknown Planar Environments - Sensor based coverage of unknown environments using exact cellular decompositions. The Robotics Institute is part of the School of Computer Science , Carnegie Mellon University . For updates and comments, please see these instructions .