Robotic Solutions for Landmine Detection and Human Rescue

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Jun 13, 2024

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Austin Gamez 012045203 INTRODUCTION TO ARTIFICIAL INTELLIGENCE: TASK TWO

A: Environment The robot is deployed in an environment representing terrain containing active landmines. The environment consists of over 30 landmines, along with walls representing “boundary zones” that the robot is permitted to work with. The landmines are colored red to improve visibility while running the simulation. In addition, the environment contains a person (represented by a cylinder). The robot will navigate through the minefield, logging the location of any detected mines. If a person is found, a message will be emitted, and an operations team will be dispatched to guide them to safety. B: Improved Disaster Recovery Our disaster recover robot is tasked with navigating through an active minefield, logging the location of any mines that it discovers. In addition, it has a special sensor that is able to detect people in the area. The robot will emit a message, and inform our operations team that a person is in the area. In our simulation, the landmines are represented by a red disk. By combining the robot’s ability to detect mines and identify people stranded in the field, we can mitigate the hazards and assure that no more people will fall victim to the mines. C: Architecture The minesweeper robot and CoppeliaSim scene is based off the default BubbleRob tutorial scene. The robot has two different sensors. The red sensor is responsible for detecting landmines. When it finds one, it makes a log of it. In addition, this sensor is also able to detect boundaries so that it can be programmed to work within a specific geographic zone. The “boundaries” of the current zone are represented by walls in the simulation. The blue sensor is specifically programmed to detect human beings. If a human being is found, the robot will approach the human and stop. A message is emitted, declaring that a person is found, and our operations team will be contacted to rescue the person. D: Internal Representation of Environment The robot keeps an internal representation of the environment by using sensors to perceive its surroundings. The red sensor will allow it to detect landmines. When this occurs, this location is logged so that it may be removed at a later time. In addition, the robot keeps an internal representation of the geographic zone it is working in. Since the red sensor can scan the ground, it is also responsible for detecting the boundary region. When deployed, a specific zone can be specified,

and if the red sensor detects it is near the boundary, it will reverse and change direction, so that it can continue sweeping the minefield. The blue sensor is exclusively used for detecting human beings. If a human being is detected, the robot will approach and stop, and the sensor will turn green and a message will be logged. E: Reasoning, Knowledge, Uncertainty, Intelligence Reasoning: The robot detects mines with the red sensor, and will reverse and change direction in order to avoid it. The robot will also log that it found a mine, so it can be removed later. This exact same behavior will occur if the robot senses that it is near the boundary (represented by walls in the simulation). People stranded in the minefield will be detected using a blue sensor, which will turn green if a person is detected. A message will be emitted, declaring that a person has been found. Our operations team will receive this message and dispatch a rescuer to lead the person to safety. Knowledge: As described in the previous section, the robot has multiple sensors allowing it to detect information about its environment. The red sensor is designed- to scan the ground, which gives it the ability to detect landmines, and detect if the robot is approaching the boundary. The blue sensor specifically detects humans and will turn green and emit a message if a human is found. Uncertainty: Having multiple sensors allows our robot to navigate the terrain without issue. The red sensor is specifically designed to scan the ground. It can also detect boundary regions so that our robot will not venture out of the minefield while it is working. However, the red sensor can also pick up any other obstacles on the ground. If it detects unknown obstacles, it will respond similarly to how it responds to a detected mine: it will reverse and change direction. The only difference is that it will not log a message for unknown obstacles in its path. Intelligence: The robot has been designed to navigate through a minefield and log the location of any discovered mines, without putting itself at risk. In addition, it can compensate for any unknown obstacles, and it has the ability to stay within a predefined zone. This will allow it to effectively detect any mines in its path. In addition, it is intelligent enough to look for people stranded in the minefield, if necessary. When it detects a human being, it will emit a message declaring it has found the person and inform our operations team so that rescuers can lead the stranded person to safety.

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F: Further Improvements We could improve this design with the use of search algorithms and reinforced learning: Search algorithms: Currently, our robot is programmed to move forward until it detects a mine, boundary or human. If it detects a mine or boundary wall, it simply makes a log of it, before reversing and changing direction. This is a very naïve implementation. We could improve this by using search algorithms, that allow this robot to scan the entirety of the boundary using the smallest amount of movement possible. Reinforced learning: Reinforced learning could also improve our robot. This would allow us to “reward” our robot for correct behavior (ex: finding all mines in a boundary zone) or penalize incorrect behavior, such as accidentally moving over a mine. This could improve safety and minimize the total distance travelled. G: Code The code has been added as an attachment to my submission. The CoppeliaSim scene is named minesweeper. H: Recording A link to my Panopto recording has been attached to my submission.

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