Search and Rescue
Fully autonomous coordination between Rover and Quadcopter
Parties
Established in 2009, this project is an ongoing collaboration between Saab Dynamics and Linköping University - altering in various configurations throughout the years.
Task
Locating distressed persons in hostile environments of varying terrain autonomously, without the need for any human search party - which may not survive the harsh conditions in which the mission takes place.
Solution
Our implemented solution is a system consisting of a Rover and a Quadcopter - communicating via the ROS network. The Rover explores most of the terrain, sending the more costly Quadcopter to search the areas not accessable by itself.
System overview
This flowchart visualises the system configuration. The Base Station is a stand-alone PC, running the Mission Planner and the GUI. The Mission Planner handles internal communication to and between the system components (Rover and Quadcopter), while the GUI enables external communication between the user and these components. When running the system on hardware, Qualisys will be used to obtain the position of the Rover and the Quadcopter.
Rover
All-terrain, tracked vehicle, able to search most terrains. Comes in pairs of two, each one equipped with a Lidar. Equipped with a virtual camera to find distressed persons. Carries the Quadcopter on its back.
Quadcopter
Lightweight, ArduPilot controlled, drone able to search areas the Rover could not access. High cost due to a fast draining battery. Similar to the Rover, also equipped with a virtual camera.
GUI
The Graphical User Interface, where the user (you) specify when to start and stop the mission. Contains important mission status data, such as the current mission state, or how much battery the Quadcopter has left.
