A Preliminary Study of the Mobile Robot-Based Cooperative System for Outdoor Hazardous Testing Spaces

Unlike the diverse improvement efforts actively ongoing in general industrial sites, military development product that involves explosives and propellants demand a high level of operational reliability and safety to their specificity. In this paper, a mobile robot-based cooperative testing system has been proposed and developed as an attempt to mitigate various threats that may arise during firearm and ammunition testing. The robot is designed to autonomously execute the procedures necessary for firearm preparation, relying on a configuration of both commercially available and self-developed sensors. a vision-based automatic sorting algorithm has been implemented to self-detect variations in the reference azimuth angle during live firing test. To verify the ammunition loading safety of the developed system, a measurement environment was configured to measure the impact force on the ammunition using PCB PIEZOTRONICS 350C03 sensors and the Dewetron DEWE-2072 data acquisition system. The analysis results show a 70% reduction in impulse compared to manual loading case, demonstrating the safety effectiveness of the proposed system. Moreover, the feasibility of the mobile robot-based testing technique has also been verified in the live firing test.