| Title |
Preliminary Evaluation of a Quadruped Robot-mounted Magnetic Survey System for Landmine Detection at Border-Area Construction Sites |
| Authors |
방은석(Bang, Eun Seok) ; 정상원(Jeong, Sang Won) ; 임신혁(Yim, Sin Hyuk) |
| DOI |
https://doi.org/10.12652/Ksce.2026.46.4.0377 |
| Keywords |
사족보행로봇, 자력탐사, 지뢰탐지, 지표근접탐사, 총수평미분 Quadruped robot, Magnetic survey, Landmine detection, Near-surface survey, Total horizontal derivative (THD) |
| Abstract |
This study presents a preliminary evaluation of a ground-proximate magnetic survey system mounted on a quadruped robot (Unitree Go2 EDU Plus), equipped with a fluxgate magnetometer (Sensys MagDrone R3) and a multi-frequency RTK-GNSS, for landmine detection at border-area construction sites. Conventional manual detection poses significant safety risks to operators, while UAV-based magnetic surveys face limitations in securing sufficient magnetic anomaly signals from landmines when low-altitude flight is restricted by vegetation or terrain relief. By maintaining a constant sensor height of 0.5 m above the ground surface, the proposed system is expected to offer a relatively favorable signal-to-noise ratio (SNR) compared to UAVs under conditions where low-altitude flight is difficult due to vegetation. A data acquisition and processing workflow was established, comprising grid-based traverse surveys, zero-phase low-pass filtering (fc = 2 Hz) for gait-induced noise suppression, and target localization using the total horizontal derivative(THD). Field verification was conducted in both a controlled environment and a riverside floodplain using M15 anti-tank and M16 anti-personnel practice mines. Under the tested conditions, magnetic anomaly signals were identified for all targets. Landmine types were distinguished using peak-to-peak amplitude and the spatial extent of magnetic anomaly zones, with THD based position estimation errors within 0.37 m. These results provide an initial confirmation that the quadruped robot-based magnetic survey system has potential applicability for landmine detection at border-area construction sites under the tested conditions. Further validation under actual burial conditions, diverse terrain environments, and various noise sources is required before practical deployment. |