METHODOLOGY

The AVDL is a highly innovative robotic system that leverages a combination of affordable, off-the-shelf components and open-source software tools. It integrates advanced sensors and sophisticated algorithms to enable highly accurate autonomous navigation and landmine detection. The workflow of the AVDL is structured around two primary components, namely navigation, and landmine detection, which work seamlessly together in Robot Operating System (ROS) to create a highly effective, modular, and reliable robotic system for detecting landmines.

In the navigation component, the AVDL uses a waypoint-based navigation system to move towards the designated GPS waypoints. The waypoint-based navigation system is designed to tell the robot how far it needs to move and rotate to reach the desired GPS waypoint relative to its current GPS location and compass direction.  To ensure safe and collision-free navigation, the AVDL uses the LIDAR and RealSense cameras to detect obstacles in its path and to adjust its trajectory accordingly. Another important feature of the AVDL is its ability to navigate through different types of environments. The AVDL has been tested and proven successful in navigating through grass, roots, rocks, and sand. It can also navigate through an inclination up to 40 degrees. The AVDL's ability to navigate through different environments is crucial in detecting landmines in various terrains and situations.

The AVDL uses computer vision and metal detection sensors to detect diverse types of landmines, including the VS50, PMN, and PFM-1. The computer vision algorithm used by the AVDL is based on the open-source YOLOv5 algorithm, which provides high accuracy and fast detection performance. When a landmine is detected, the AVDL returns the GPS location of the detected landmine and a screenshot of the detection if the confidence of the computer vision model is over 90% (a high accuracy threshold value was used to avoid false positives in the detection algorithm). 

The AVDL's metal detector is also a reliable tool for landmine detection. It uses electromagnetic waves to detect metallic objects buried in the ground, which could indicate the presence of a landmine. The AVDL's metal detector has an accuracy of over 75%, which makes it a useful tool for detecting landmines in situations where computer vision algorithms may not be effective, such as detecting landmines buried deeper in the ground.

The AVDL's pressure level is also an important feature. The AVDL has been designed to minimize the pressure it exerts on the ground to prevent any accidental detonation of landmines. The AVDL's pressure level is 0.45 LB/IN^2, which is well below the minimum pressure required to detonate most types of landmines. This feature makes the AVDL a safe tool for detecting landmines.

In conclusion, the AVDL is a promising technology for detecting landmines using computer vision and a metal detector. Its ability to detect landmines with high accuracy, navigate through different environments, low cost, and safety features make it an accessible and efficient solution for landmine detection. However, it is important to note that the AVDL should be used as a complementary tool to human deminers and other methods for detecting and removing landmines. The AVDL has the potential to save many lives and help in the process of removing unexploded ordnance from affected areas.