Fully autonomous search and rescue system with a Rover and UAV

Background

This is a CDIO project developed in the course "Automatic Control Project Course, TSRT10" at Linköping University in collaboration with Saab Dynamics. The objective has been to develop a multiagent system capable of autonomously searching and exploring an unknown area for distressed persons and delivering supplies.

The main objective for the system is to autonomously deliver supplies to distressed persons. Therefore, the system must be capable of exploring an unknown area while searching for moving distressed persons. Both the Rover and UAV need to communicate with each other and use image processing to identify distressed persons. The environment includes no-fly zones which the UAV must be able to avoid.

System Description

The system is built on ROS2 and consists of three subsystems, these are: The Base Station, Rover and UAV. As the system is built with Software in the Loop, it can be used in both simulation and on hardware. The system uses Rviz2 for visualization of the Rovers mapping and the UAV:s search pattern around the no-fly zones. In simulation the world is visualized in Gazebo while real world scenarios are tested in Arena Visionen.

Rover

The Rover is equipped with a Raspberry Pi for computations, an Arduino for actuator control, a camera for image recogniton and tracking as well as a Lidar for mapping.

Base Station

The Base Station handles all communication between the Rover and UAV while also being the main planner for the mission. It visualizes Rviz2 and the simulation environment in Gazebo.

UAV

The UAV is equipped with a Pixhawk 4 as an onboard flight controller, a Raspberry Pi for computations as well as a camera for image recogniton and tracking.

Team Members

Daniel Goderik

Project Manager

Eric Sevonius

Head of Software

Anton Larsson

Head of Design

Sebastian Fagerstedt

Head of Testing

Rickard Wretlind

Head of Documentation

Daniel Sandvall

Head of Hardware - UAV

Albin Westlund

Head of Hardware - Rover

Documents

Project Plan

Design Specification

Requirement Specification

Test Protocol

User Manual

Technical Report

Poster

Contact