To conduct mine detection experiments using an octal wheeled prototype robot RAT-1, we developed end effectors to be attached to the driving wheels of the robot. This enables the robot to step safely and stably without hitting hidden mines. We created a simulation model for this study to test the movement of a robot having metal sensors attached to the front of its wheels and a driving algorithm with effect control based on IR cameras. We verified the efficiency of the system in actual walking experiments. We also studied remote sensing technology uses for IR cameras combined with other metal sensors. Tests with trial mines were used to study the detection characteristics of IR cameras and various technologies for collecting and processing image data in real time for optimum mine detection.
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