MADR Minefield Annihilation and Detection Robot

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MADRMinefield Annihilation and Detection Robot

• Scott Oetke
• Final Oral Report
• July 29, 2003

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Behavior Overview

• Execute a random walk search system
• Using a metal detection system, search for metal
  mine stand-ins
• Upon detection, deploy a small device
  representing a demolition pack
• Activate a signal on the device to represent an
  explosion
• Return to search algorithm

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Behavior 1 Random Walk

• Move forward until an object is detected via bump
  or IR
• Upon detection, turn away for a random time, then
  cont.
• Interrupt driven 100Hz
• Equipment used for behavior
• Tamiya 70097 Twin-Motor Gearbox
• Sharp GP2D120 analog IR sensor
• TI SN754410 Motor Driver
• Bump switch

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Behavior 2 Search for metal

• Continuously scan
• Interrupt driven 100Hz
• Upon detection, execute metal routine
• Equipment used for behavior
• Custom made search loop
• On Semiconductors CS209A Proximity Detector
• Various capacitors and resistors for search loop

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Behavior 2 Metal detect circuit
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Behavior 2 Metal detect ranges
All values are in cm
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Behavior 3 Bomb Cycle

• After detection, first arm the bomb
• Deploy the bomb pack using standard servo
• Back away from mine detonate
• Wait for reload resume random scan
• Equipment used for behavior
• Ming RE-99 TX-99 RF
• Holtec HT12D Decoder
• Holtec HT12E Encoder
• Hitec HS-311 Servo

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Behavior 3 RF Transceiver

• Encoder takes in 12 bits of data a transmit
  enable and outputs a serial data stream
• Transmitter receiver modules communicate at
  300MHz
• Decoder latches then outputs data stream
• For detonation sequence
• One green, Armed LED activated when metal found
• One red, Detonated LED activated after
  deployment the robot has backed away