The Design of a Low-Cost Sensing and Control Architecture for a Search and Rescue Assistant Robot

Abstract

At a disaster site, unforeseen circumstances can severely limit the activities of rescue workers. The best solution is for a cooperative team of robots and rescue workers to complete the rescue work. Therefore, in this paper, we propose a simple and low-cost sensing and control architecture for a search and rescue assistant robot using a thermal infrared sensor array, an ultrasonic sensor, and a three-axis accelerometer. In the proposed architecture, we estimate the location of human survivors using a low-cost thermal IR sensor array and generate and control the trajectory of approaching the searched human survivors. Obstacle avoidance and control are also possible through 3D position estimation of obstacles using 1D ultrasonic sensor integration. In addition, a three-axis accelerometer is used to estimate the tilt angle of the robot according to terrain conditions, and horizontal control of the storage box angle is performed using this feature. A prototype robot was implemented to experimentally validate its performance and can be easily constructed from inexpensive, commonly available parts. The implementation of this system is simple and cost-effective, making it a viable solution for search and rescue operations. The experimental results have demonstrated the effectiveness of the proposed method, showing that it is capable of achieving a level storage box and identifying the location of survivors while moving on a sloped terrain.