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Indoor Environment Mapping Robot (IEMR)

Robots can facilitate rescue operations by entering spaces that are dangerous or inaccessible. These robots usually make use of a camera to confer visibility to users. It is advantageous to also map the environment through the use of LIDAR sensors. This provides a geometric model which can be used in real time or throughout a mission. Example scenarios include:

  • Searching for imperilled individuals in a burning building
  • Searching for buried individuals in rubble
  • Searching for hostages and suspects in a law enforcement situation

A simple wheel based solution has been used for movement. Combining the lidar mapping concept with more sophisticated movement to overcome difficult terrain would yield a more practical robot, but is outside the scope of this project.

Minimum Requirements:

  • Acquisition of 3D mapping of the environment using Lidar and SLAM
  • Rendering of the environment in VR
  • Remote control of the robot in VR

System Architecture

Software:

  • OS: Ubuntu MATE (16.04) was built on RPi3
  • ROS distribution: ROS Kinetic
  • Unity

Hardware:

  • Microcontrollers and Microprocessors
    • Raspberry Pi 3 and Intel Joule 570X
    • OpenCR microcontroller
  • Sensors and Actuators
    • Lidar sensor (360 Laser Distance Sensor LDS-01)
    • Raspicam 2 and Intel real sense camera (R200)
    • Remote controller and bluetooth (RC-100B)
    • Motors - Dynamixel (XM430-W210-T)
  • VR Headset
    • Oculus Rift S

Demo Video

Demo Video