Abstract
The Rocker Bogie Mechanism (RBM) is widely used in planetary rovers for its ability to traverse challenging terrain. However, the presence of metal debris in the terrain can pose a significant threat to the rover's mobility and instrumentation. Therefore, a metal detector integrated with the RBM is necessary to avoid any potential damage. This paper presents the design and development of a metal detector for the RBM, which includes the selection of suitable components, the development of the detection algorithm, and the integration with the RBM. The detector's performance is evaluated in both simulation and experimental settings, demonstrating the successful detection of metallic objects and their location.
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