Visual Servoing of a Sensor Arm for Mine Detection Robot Marwa

This paper presents a visual servoing system developed at LUMS for the landmine detecting robot named Marwa. The system is coupled with a robotic arm whose payload is a metal detector. Visual information is provided by a custom built stereo vision system to maintain a fixed orientation and elevation of the metal detecting sensor with respect to the ground directly in front of it. This is essential for successful working of the sensor. First, the problem is defined and the motivation for the development of the robot is discussed. Then, the mechanical design of the arm is explained, followed by an explanation of the strategy we employ for total coverage of a mine infected area. The terrain representation and its reconstruction using stereo vision is described. The integration of the vision component with the arm joint feedback is then presented, along with an overview of the real time controller and programming environment.