SAR picture

Search and Rescue

Advanced Planner for Multiple UAVs and UVGs in Complex Environments

Parties

Starting in the 00's, this project is an ongoing collaboration between Saab Dynamics and Linköping University.

Task

Locating and helping people in distress in a complex world is labor intensive work. In order to help and make it easier to find the persons, we were tasked to implement a solution where several autonomous vehicles searched for and helped the found distressed persons.

Solution

Our solution is to use a Task Planner to coordinate the vehicles. By collaboration between the vehicles, the Task Planner plans a list of actions which should be executed in order to complete the mission, i.e., search through the complex area and find all people in distress. It should also make sure that the vehicles collaborate with each other. The solver for the planner used is the Temporal Fast Downward.




The Team

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Project Leader
Amanda Gidlöf
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Head of Design
Axel Anhammer
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Head of Hardware
Ludvig Berglund
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Head of Testing
Axel Ek
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Head of Documentation
Trulsa Eriksson
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Head of Software
Joel Wittlock
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Head of Information
and Deliveries
Johannes Wrangstål

System Overview

This flowchart shows the system overview. The Task Planner is an AI-planner whose output is a list of actions that need to be executed to fulfill the mission goals. The Converter works as a translator between the Task Planner and Motion Planners. The Rover Motion Planner uses RRT to guide the vehicles. The Drone Motion Planner uses a simple start and goal path planner to guide the Drone. The Rover and Drone are simulated models that are simulated in Gazebo and rViz.



System picute

Gazebo

System picute

A simulation environment to test robotic systems with a physics engine to make the simulation as realistic as possible.

rViz

System picute

3D visualization tool for ROS where sensor data and other inputs and outputs from the system can be visualized.


Documents



REQUIREMENTS
SPECIFICATION

PROJECT
PLAN

DESIGN
SPECIFICATION

TEST
PROTOCOL

USER
MANUAL

TECHNICAL
DOCUMENTATION

POSTER