Showing papers on "Rescue robot published in 2020"

2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots

Abstract: As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planning algorithm, this paper analyzes the applicability of three SLAM algorithms (GMapping algorithm, Hector-SLAM algorithm, and Cartographer algorithm) in indoor rescue environment. Real-time path planning is studied to test the mapping results. To balance path optimality and obstacle avoidance, algorithm is used for global path planning, and DWA algorithm is adopted for local path planning. Experimental results validate the SLAM and path planning algorithms in simulated, emulated, and competition rescue environments, respectively. Finally, the results of this paper may facilitate researchers quickly and clearly selecting appropriate algorithms to build SLAM systems according to their own demands.

Design and Implementation of a Maxi-Sized Mobile Robot (Karo) for Rescue Missions

Abstract: Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot's platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot's power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo's software system and human-robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo's field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL's test suites and training suites of a fire department. Finally, the comprehensiveness of Karo's capabilities has been verified by drawing quantitative comparisons between Karo's performance and other leading robots participating in RRL.

Coal Mine Rescue Robots Based on Binocular Vision: A Review of the State of the Art

Abstract: Rescue work after a coal mine accident is fraught with challenges and dangers. Considering the safety of rescue workers and the urgency of a rescue mission, it is necessary to use coal mine rescue robots to perform the tasks of environmental detection and rescue. As a key part of the robot sensing system, a visual sensor can provide much information about a scene. Among vision sensor types, binocular vision has the advantages of being noncontact and passive, and it is the key technology for a robot to acquire obstacle information and reconstruct a three-dimensional scene. Therefore, coal mine rescue robots based on binocular vision have become a popular research topic in the field of mine safety. First, the research status of camera calibration and stereo vision matching for binocular vision is systematically introduced in this paper. Second, the latest research progress on coal mine rescue robots based on binocular vision is reviewed from the perspective of technological applications and development. Finally, the technical challenges and future development trends of binocular vision in coal mine rescue robots are described.

Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018

Abstract: Robots are needed in rescue activities and the inspection of infrastructure. We developed the rescue robot FUHGA2 so that it has various functions. FUHGA2 has high mobility, with main crawlers cove...

Needs-driven Heterogeneous Multi-Robot Cooperation in Rescue Missions

Abstract: This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the system's performance in terms of the group utility and energy cost to achieve the rescue mission in a limited time. From the theoretical analysis, we prove that the needs-driven cooperation in a heterogeneous robot system enables higher group utility than a homogeneous robot system. We also perform simulation experiments to verify the proposed needs-driven collaboration and show that the heterogeneous multi-robot cooperation can achieve better performance and increase system robustness by reducing uncertainty in task execution. Finally, we discuss the application to human-robot teaming.

An auction-based rescue task allocation approach for heterogeneous multi-robot system

Abstract: Nowadays, robots are faced with real-time, dynamic, complex and confrontational working environment. It is significant to analyze task allocation in multi-robot systems. In this paper, a dynamic auction approach for differentiated tasks under cost rigidities (DAACR) is proposed, which can obtain optimal results in the task allocation of rescue robots. To verify the feasibility of the proposed approach, we investigate the optimality of the DAACR and compare it with other task allocation approaches based on the Hungarian algorithm. The results show that robots using this algorithm can adapt to a variety of complicated work environments, accomplish more tasks in limited time, reduce the delay of task allocation, and improve the overall utility of multi-robot systems.

Novel hybrid algorithm for Team Orienteering Problem with Time Windows for rescue applications

Abstract: Robots for rescue operations after a disaster are an interesting and challenging research problem that has the potential to save lives and reduce economic losses after a disaster. We developed TOPTWR, an extension of the popular TOPTW model, to model the issues in task allocation for teams of rescue robots. Our hybrid algorithm is based on a team of heterogeneous humanoid robots trying to optimize five objectives (task rewards, task completion time, total energy, maximum energy consumption for a single robot, and missed deadline penalties). A common approach to solve these kinds of problems are multi-objective evolutionary algorithms (MOEAs), but their major disadvantage is that they cannot deal with dynamic environments easily. This paper presents an efficient solution for TOPTWR by combining MOEAs with learning algorithms. A novel Extended Multi-Start Simulated Annealing Iterated Local Search (EMSAILS) operator using a modern state-of-the-art NSGA-III algorithm is proposed. In addition, we applied Q-Learning to learn the likely changes in the environment and how to react to them. This algorithm, HMO-TOPTWR-NSGA-III (HMO-N-L), uses an artificial neural network (ANN) as a function approximator to make the huge state and action spaces tractable. This paper includes a thorough empirical evaluation demonstrating the effectiveness of the multi-objective algorithm in both static and dynamic environments. The evaluation shows that the proposed algorithm reduces the error by up to 42% against three state-of-the-art approaches to TOPTW (HMO-N, MSA, and IPI).

Analysis and Augmentation of Human Performance on Telerobotic Search Problems

Abstract: Search is an essential technology for rescue and other mobile robot applications. Many robotic search and rescue systems rely on teleoperation. One of the key problems in search tasks is how to cover the search space efficiently. Search is also central to humans’ daily activities. This paper analyzes and models human search behavior using data from actual teleoperation experiments. The analysis of the experimental data uses a novel technique to decompose search data, based on structure learning and K-means clustering. The analysis explores three hypotheses: (1) humans are able to solve a complex search task by breaking it up into smaller tasks, (2) humans consider both coverage and motion cost, and (3) robots can outperform humans in search problems. The enhanced understanding of human search strategies can then be applied to the design of human-robot interfaces and search algorithms. The paper describes a technique for augmenting human search. Since the objective functions in search problems are submodular, greedy algorithms can generate near-optimal subgoals. These subgoals then can be used to guide humans in searching. Experiments showed that the humans’ search performance is improved with the subgoals’ assistance.

Noncollocated Position Control of Tendon-Sheath Actuated Slender Manipulator

Abstract: The tendon-sheath actuated system is applicable to the mechanism where flexibility and long-distance transmission are required, such as surgical hand and rescue robot. Nevertheless, the severe nonlinearity and flexible structure make it hard to control precisely. Moreover, in some applications, where sensors are difficult to install, precise control is even more arduous. In this brief, a noncollocated position control of a tendon-sheath actuated manipulator is studied. First, the tendon-sheath actuated elastic manipulator of a slender rescue robot is introduced. A linear relationship was measured between the driven displacement and desired displacement of the elastic manipulator. Then, the drive system of the manipulator is modeled as a single-tendon-sheath system, and the transmission model is presented. The sheath configuration of the manipulator actuation system can be identified online, using the method called 3-D reconstruction. To control the tip position of the system without collocated feedback, a combined control method which is based on the transmission model and adaptive sliding mode control is put forward. Finally, the improved accuracy in position control is demonstrated by a series of experiments.

Semantic RGB-D SLAM for Rescue Robot Navigation

Abstract: In this paper, we propose a semantic simultaneous localization and mapping (SLAM) framework for rescue robots, and report its use in navigation tasks. Our framework can generate not only geometric maps in the form of dense point-clouds but also corresponding point-wise semantic labels generated by a semantic segmentation convolutional neural network (CNN). The semantic segmentation CNN is trained using our RGB-D dataset of the RoboCup Rescue-Robot-League (RRL) competition environment. With the help of semantic information, the rescue robot can identify different types of terrains in a complex environment, so as to avoid specific obstacles or to choose routes with better traversability. To reduce the segmentation noise, our approach utilizes depth images to perform filtering on the segmentation results of each frame. The overall semantic map is then further improved in the point-cloud voxels. By accumulating results of multiple frames in the voxels, semantic maps with consistent semantic labels are obtained. To show the advantage of having a semantic map of the environment, we report a case study of how the semantic map can be utilized in a navigation task to reduce the arrival time while ensuring safety. The experimental result shows that our semantic SLAM framework is capable of generating a dense semantic map for the complex RRL competition environment, with which the arrival time of the navigation time is effectively reduced.

DeepHAZMAT: Hazardous Materials Sign Detection and Segmentation with Restricted Computational Resources

Abstract: One of the most challenging and non-trivial tasks in robotics-based rescue operations is Hazardous Materials or HAZMATs sign detection within the operation field, in order to prevent other unexpected disasters. Each Hazmat sign has a specific meaning that the rescue robot should detect and interpret it to take a safe action, accordingly. Accurate Hazmat detection and real-time processing are the two most important factors in such robotics applications. Furthermore, we also have to cope with some secondary challengers such as image distortion problems and restricted CPU and computational resources which are embedded in a rescue robot. In this paper, we propose a CNN-Based pipeline called DeepHAZMAT for detecting and segmenting Hazmats in four steps; 1) optimising the number of input images that are fed into the CNN network, 2) using the YOLOv3-tiny structure to collect the required visual information from the hazardous areas, 3) Hazmat sign segmentation and separation from the background using GrabCut technique, and 4) post-processing the result with morphological operators and convex hall algorithm. In spite of the utilisation of a very limited memory and CPU resources, the experimental results show the proposed method has successfully maintained a better performance in terms of detection-speed and detection-accuracy, compared with the state-of-the-art methods.

Military Support and Rescue Robot

Abstract: In this era of a politically unstable world, there is a growing demand for the use of military robots to aid the soldiers to perform perilous missions This paper focuses on the design and build of a semi-autonomous, unmanned robotic system used for various military and rescue operations Dangerous tasks such as bomb disposal, enemy territory surveillance, search and rescue can be efficiently carried out by the MSRR, Military Support and Rescue Robot This reduces the risk of losing the lives of both soldiers and civilians With the help of live feed from the wireless camera and data analysis of environmental composition by various sensors, of the area under surveillance, the soldiers can better prepare for their missions Using Arduino and Zigbee technology, the above-mentioned tasks can be achieved The different sensors and the robotic arm are connected to the Arduino mega which in turn is connected to the Zigbee Data transmission and receiving are through Zigbee technology This prototype design overcomes the weakness of the existing models and thus provides better support for military operations

Hardware in the Simulation Loop Framework For Reproducible Testing of Rescue Robot Communications in Constrained Environments

Abstract: Robotic systems bring significant support in search and rescue missions, especially in disastrous scenarios that harbor significant dangers for rescue forces. In these hazardous areas, remote-controlled rescue robot systems can provide a fast and yet secure way to scout the area and discover survivors. These evolving systems must be tested extensively in various reproducible setups before real-world deployment. Their performance in communication constrained environments, which often induce degrading and even missing network links, is of worth. Therefore, this work presents a concept for an evaluation platform following a Hardware in the Simulation Loop (HiSL) approach to test robotic applications in challenging network environments as well as evaluate communication solutions developed for rescue robotics. An exemplary implementation of the platform concept is provided, which uses extensive raytracing simulations to generate coverage maps of rescue scenarios defined in ROS/Gazebo. These maps are used to simulate the performance of real communication systems. The platform concept implementation is used in a case study based on a sample scenario from the DARPA Subterranean (SubT) challenge, to evaluate SKATES, a communication module of our conception, in its ability to provide reliable network access by leveraging its Multi-Connectivity feature. Results demonstrate the fidelity of the communication behavior in the real-world to the constraints established by the communication environment in the simulation, as well as the robust network behavior of the Multi-Radio Access Technology (Multi-RAT) enabled SKATES module.

Pose Prediction for Mobile Ground Robots in Uneven Terrain Based on Difference of Heightmaps

Abstract: For traversing uneven terrain in degraded environments, determining the static stability and consequently the tip-over risk of a mobile ground rescue robot is fundamental for planning and evaluation of paths. This paper presents a novel iterative geometric method that reduces the problem of robot pose prediction to two-dimensional image-processing operations by introducing the concept of a robot heightmap. The presented method requires only geometrical and mass information extracted from the widely used unified robot description format (URDF) to compute the robot heightmap, which makes it transferable to a wide range of mobile robot platforms without modification. We demonstrate that the approach accurately predicts the real robot's 6D pose at the input x-y-coordinates. Runtimes allowing the evaluation of poses in the order of ten thousand poses per second show that the method is computationally efficient enough to be used in online path planning.

Electromagnetic Wave Attenuation Mechanism and Distribution Strategy for Coal Mine Rescue Robot Under the Typical Obstacle Environment

Abstract: After a coal mine disaster, the coal mine roadway often forms an unknown nonstructural environment. Once the normal communication of the roadway is destroyed, the rescue operation of the coal mine rescue robot could be hindered. To restore the emergency wireless communication system in the unstructured environment of the coal mine thus becomes an important prerequisite for the rescue work for the coal mine rescue robot. This paper studies the characteristics of the nonstructural environment and sets up its model. Based on the Maxwell equation and the mechanism of radio electromagnetic wave propagation, this paper researches the electromagnetic characteristics of wireless communication channel in the unstructured environment, and verifies them by numerical simulation. This paper also studies the strategy of repeater's laying for the robot, thereby providing a reliably theoretical foundation to quickly start up the emergency wireless of the coal mine rescue robot.

Real World Effectiveness of Information and Communication Technologies in Disaster Relief: A Systematic Review.

Abstract: Background The application of information and communication technologies (ICTs) in disaster relief is increasingly widespread, but it is still unclear whether ICT can reduce casualties and economic losses in disaster response phase. Methods We searched studies in the databases of Scopus, EI, MEDLINE and EMBASE from Jan 1, 1990, to Mar 22, 2019. Excel 2016 and VOSviewer (version 1.6.11) were used to analyze the extracted data and visualize the network diagram. Results We included 169 eligible articles. The number of ICTs-related disaster-relief articles published annually shows an overall trend of growth since 1990. The United States has the greatest influence in this field. The 169 articles reported twenty-four technologies and the top three reported most frequently were remote sensing, social media, and geographic information system (GIS). The main roles of ICTs in natural disaster rescue included information dissemination, post-disaster image collection and damage assessment. However, of the 169 articles, only five reported that ICTs reduced casualties or economic losses in disaster response phase, two concluded that rescue robot was ineffective in mudslide rescue, and the remaining 162 (95.86%) did not evaluate the effect of ICTs on the rescue. Conclusion ICTs have the potential to reduce casualties and economic losses, but some technologies are not applicable to all rescue scenarios. In addition, most studies did not pay attention to the effect of technology on the rescue.

Stability Control for Medical Rescue Robot in Unconstructed Environment

Abstract: The mobile manipulators have become more and more popular because of its flexible operation space. However, how to protect the people on the mobile rescue robot to against the impact from unconstructed environments like the battle field or disaster is still an underexplored problem. The stability control problem is addressed in this article by devising a disturbances rejection method for medical rescue robot. We indicate that the designed method keep the posture of the end of the manipulator stable by controlling the motors of pitching direction and rolling direction. The vertical vibration can be weakened by the damping system of the rescue robot, such as spring, damper and damping materials. The wounded carried by manipulator of the rescue robot may not suffer secondary damage as the end of the manipulator always remain stable. Simulations implementations are performed to validate the proposed method and performance metric with a mobile rescuing manipulator.

Implementation of Low-Cost Mobile Robot for Rescue Challenges

Abstract: One of the biggest challenges in today’s world in the field of robotics is rescue robotics. This paper aims in the design and implementation of mobile robot for the search and rescue operations in natural calamities such as earthquakes. These rescue robots reduce the response time as compared to humans and help in getting information to the rescue teams using sensors. The main issues concerned with the present rescue robots are modularity, mobility, durability, and robustness. The robot is designed considering all the required parameters in SOLIDWORKS CAD and simulated in Rviz with the control interface as Robot Operating System (ROS). The robot is designed in such a way that it can do all the mobility tasks like climbing stairs, moving on uneven terrains, step fields, sand, and gravel, as well as exploring tasks like finding the injured victims and hazardous signs.

Analog Sensing and Leap Motion Integrated Remote Controller for Search and Rescue Robot System

Abstract: In the age of modern technological capabilities, robotic systems play a vital role in making our lives more comfortable. Robotic systems are becoming an essential part of human life due to their efficiency, multi-functionality, and high performance. In recent years, search and rescue robot systems are used tremendously for helping to rescuers in a natural disaster. Every year, millions of people are affected by disasters in different parts of the world. Disasters can be manmade or natural, such as building collapse, earthquakes, avalanches, volcanic activity, wildfires, and floods, etc. This witnesses the importance of sensor-based search and rescue robot systems in the emergency and also disaster management field. A variety of sensing and wireless technologies are used for remote and vision controlling in the emergency field. The use of these sensing and wireless technologies, the rescuers instead of going inside in the disaster area, can control the robot systems remotely when calamity occurs. A remote controller is used in the remote control of modern robotic systems. In this paper, we design an analog sensing and Leap Motion integrated remote controller for search and rescue robot system. The controller consists of an Arduino Mega Pro MINI, joystick module, Leap Motion controller, radio module, USB hub, potentiometer, power switch, button, USB type B female, Ii-on battery and Ii-on charger. The remote controller has the ability to help the rescuers to remote control in the disaster area from far away. The rescuers also could save their lives by using this remote controller. The main objective of this paper is to design a multi-functional and easy to control remote controller for search and rescue robot system.

Integration of Vision based Robot Manipulation using ROS for Assistive Applications

Abstract: Providing vision to robots has been an effective application in the field of robotics which enhanced automation. There have been several algorithms developed in recent times for object recognition and YOLO v3 which is one of the best has shown very good results in real-time object recognition. Consequently, the same has been chosen for this research. This research aims at developing a vision based autonomous manipulation system for assistive applications such as service robots, rescue robots, wheelchairs, etc. A detailed system integration between vision and robotic arm using the Robot Operating System (ROS) framework has been presented. This paper also explains the method of coordinate transformation between camera and manipulator reference systems and the results are discussed.

Multifunctional fire rescue robot

Abstract: The utility model relates to the technical field of fire protection. The multifunctional fire rescue robot comprises a chassis, a water tank and a make-up pump which are arranged on the rear portion of the chassis, smoke reducing and toxin releasing devices arranged on the two sides of the chassis, a high-pressure pump set arranged on the front portion of the chassis, a fire monitor, a camera shooting monitoring mechanism and an electric control mechanism, and the water tank, the make-up pump and the high-pressure pump set are sequentially communicated through pipelines. The fire monitor and the smoke reducing and toxin releasing device are respectively communicated with the high-pressure pump set through pipelines provided with electromagnetic valves; the camera monitoring mechanism is used for remotely monitoring and monitoring the real-time situation of a fire scene; the multifunctional fire rescue robot is good in maneuverability and flexibility, good in fire extinguishing effect,capable of searching and rescuing people in a fire scene and creating a fire fighting access, and significant to improvement of rescue safety and reduction of casualties.

Search and Rescue Robot with a 4 Flipper Mechanism

Abstract: Safety, Security and Rescue Robotics also known as Search and Rescue (SAR) robotics is the emerging field in robotics. There are many challenges and research domains in this field. This paper aims in the design and implementation of the robust flipper based Search and Rescue robot for high mobility and modularity challenges. Robots are not as agile as humans while moving on uneven terrains after the disaster has occurred. The designed rescue robot has the capability to move on any rough uneven terrain with ease. Modularity, mobility, and robustness are the key factors that are taken into consideration for designing this rescue robot with the flipper mechanism to move effectively and efficiently in all the harsh environments. The robot is totally designed in Solidworks CAD tool. The robot was tested in an artificially created disaster scenario considering all the parameters like step fields, sand, gravel, and rough terrains.

Research of Collaborative Search and Rescue System for Photovoltaic Mobile Robot Based on Edge Computing Framework

Abstract: Personnel search and rescue work is a kind of emergency rescue work mainly to save the lives of personnel. If only firefighters carry out search in unknown areas in the field, the efficiency is too low and it is easy to delay the best rescue time. If a joint search is carried out using mobile robots and firefighters, it will be beneficial to find missing persons with vital signs in a timely manner, and it will be convenient to soothe the emotions of family members in a timely manner, embodying the humanistic care and humanitarian spirit. In order to solve the problem that the current rescue robot has high energy consumption and short flight time, and can not undertake a large number of long-time search and rescue tasks. This project proposes a multi-robot collaborative search and rescue system based on renewable energy to extend the mobile robot's battery life, this system is mainly divided into five parts: new solar system, search and rescue robot, Internet of Things networking, cloud server, and WeChat applet. At the same time, Multiple robots carry out collaborative search and rescue operations through the ZigBee wireless network, and the camera carried by a single robot can identify the human body with edge computing. After networking, the 4G mobile network is used to send the personnel recognition results to the background terminal, to indicate if a missing person was found. Considering that the efficiency and accuracy of searching need to be improved urgently, an improved golden section method is proposed to keep the output power of the solar panel at the highest level to increase flight duration. This project meets the urgent needs of high-efficiency rescue, energy conservation and environmental protection.

ROS-based Motion Planner for Gazebo-Simulated Rescue Robots in RoboCup

Abstract: One of the key accepts of the fourth industrial revolution (called industry 4.0) is the proper usage of mobile robots, for which using an efficient motion planning algorithm is of importance. Every year, universities and educational institutes from around the world present their accomplishments in robotics within the RoboCup competitions. One of the main purposes of the rescue robots competitions is to increase the awareness of robots during their missions. This paper presents an open-source motion planning algorithm, simulated in the robot operating system (ROS) platform. The proposed planner develops a semiautonomous algorithm for the rescue robots utilized in the RoboCup competitions. The Gazebo-simulated results validate the efficient performance of the presented algorithms.

3-D shape recognitions of target objects for stacked rubble withdrawal works performed by rescue robots

Abstract: In this research, we aim to develop a method to recognize three dimensional shape of stacked rubbles each by each for rubble withdrawal rescue robots. Shapes, masses, states of stacked rubbles and so on are various and unknown at disaster areas. Then, grasping positions on rubbles and ways to remove them have to be considered for not breaking down the stacked rubbles and falling them down on victims. Thus, it is necessary to recognize stacked rubble individually and to identify their features, such as shapes, masses, center of gravity positions and so on. In this paper, we propose a 3-D object shape recognition system with a RGB-D sensor and a 3-D reference marker. Moreover, we also propose an extraction method of rubbles using the SSD (Single Shot Multi Box Detector) of the AI (Artificial Intelligence). Experiments were performed to confirm the validity of the proposed method with our constructed prototype of a rescue robot. Through the experiments, it is shown that target stacked rubbles were recognized individually.

Bio-inspired salamander robot leg design for uneven terrains

Abstract: Ideally, search and rescue operations after a natural disaster has struck, should be performed by search and rescue robots. As natural disasters strike in very different environments and terrains, all-terrain robots are the best choice. By taking inspiration from salamanders, an amphibian, which can both swim and walk, we propose a new leg mechanism for uneven terrains. The mechanism is fabricated using commercial 3D printers, making them cheap, and illustrating how accessible 3D printers can be used for mechanism design. The feasibility of our approach is tested in practice.

Designing of an Amphibian Hexapod with Computer Vision for Rescue Operations

Abstract: Nowadays robots have been inching towards living beings in terms of performance, agility, accuracy and performance. But there is one domain which is yet to come to limelight i.e. autonomous rescue robots. This involves a parallel use of robot design and control systems to get it executed. Basically, in simpler terms, there is a risk of life is involved in such scenarios and it's always hoped that a robot deployed for such operations be working with high precision and recall. So, in this paper we have described the design and control of an autonomous amphibian all terrain six-legged robot with adaptive gait for rescue operations. To fulfill this, we have used LiDAR and camera in parallel to assist bot in locomotion and detect the victim. Achieving all of this needs a significant amount of on-board processing power, but at the same time has to be compact enough. Keeping this in mind, NVIDIA Jetson Nano seems to be promising choice to get all the processing done onboard.

Rescue robot convenient to move

Abstract: The invention relates to a rescue robot convenient to move. The rescue robot includes support components, moving components arranged at the ends of the support components and mechanical arms arrangedon the left and right sides of the interior of the support component. Each support assembly comprises a rectangular top seat, support rods, horizontal frames and a guide rail, wherein the support rodsare fixedly connected to the two sides of the rectangular top seat at a certain interval, the bottoms of the support rods are fixedly connected to the horizontal frames, and the guide rail is fixedlyconnected between the ends of the horizontal frames on the two sides. The moving components can realize all-directional displacement of the device and lifting of the device. The mechanical arms and the support components can realize picking and protection of rescue objects. Through a series of structures, the device has the advantages of being convenient to move, high in efficiency and the like in the using process, and the device is suitable for rescue places where the road is relatively flat but difficult for people to enter.