The optimization scheme for EOD robot based on supervising control architecture

The explosive ordnance disposal task in constrained environments needs high efficiency of operation and adaptability to avoid obstacles. In this paper, a redundant manipulator is presented to enhance the manipulability, the mechanical and control system is introduced and supervised control framework is adopted to deal with approaching and grasping task in confined workspace. The manual configuration control is presented and the concept of collision threat index (CTI) base on infra-red sensor information is defined for optimization. The optimization scheme of configuration adjustment for collision avoidance is adopted and the algorithm is intuitive and is suitable for real time control. A series of experiments of EOD task in under-vehicle environment have been done and the results show the effectiveness of presented approach.