Team Description: | The RMA Team will represent the Royal Military Academy at the ELROB2006. The team is composed of researchers and assistant from the Mechanical Department – Unmanned Ground Vehicle Centre of RMA.
Our vehicle is called Robudem. It is actually a commercial vehicle developed by the French company Robosoft. It is an electrical vehicle with 4 actuated wheels and two controlled axles. It has an on-board computer and two micro-controllers for its servo-control. The main computer makes the bridge between the real-time low-level control and the external world. It is integrated in a distributed control architecture based on MCA.
Besides internal sensors, the robot is equipped with a laser distance sensor, a stereovision sensor and a DGPS RTK positioning system. The robot is programmed for autonomous navigation but it can also be teleoperated.
The robot is equipped with a 2D mechanical scanner that can carry different mine detection system.
Environment sensors data are fused to build a map that is used for navigation. During its motion, the mine detection system scans the ground. When an alarm is reported, the robot halts and a fine scanning of the suspected area is performed. Mine detection and decision algorithms classify the object and update the navigation map. At the end of the operations, a global map is provided to the users.
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