DEVELOPMENT
OF AN INTERACTIVE SIMULATION
WITH
REAL-TIME ROBOTS FOR SEARCH AND RESCUE
D. A. Campos and J. T. Wunderlich
The
goal of this research is to implement a simulation that models search and rescue
mobile robots while running concurrently and interactively with several
real-time robots. By having arranged the
two systems as symbiotic, we are able to improve the search and rescue
effort.
The simulation functions by first modeling a mobile robot scouting an enclosed disaster area for life, hazards, or fire. Because the robot doesn’t have any predisposed knowledge of its environment, it must have some way to recognize random objects. The simulation can also adapt to information fed to it. Elements in a real-time robot environment such as friction and deformation of terrain may be encountered and thus anticipated. By having a learning simulation anticipate these faults, a planned path may be fed to the robot in real-time. When the simulation is not receiving information, it may work on creating maps of the robot’s environment.
A
large part of this effort focuses on the operations available to the mobile
robots. Because they are free moving
within the walls of the environment, we allow them to communicate with one
another. The feedback input/output
algorithm works by implementing the communication modules of the separate
systems (CPU, and robots). The robots are able to add into their routines new
data that is gained (such as holes or debris).
As part of our research, we have three different mobile robots, each
dedicated to a separate task; one for searching, one for fire suppression, and
one for medical assistance. Both the
simulation and real-time rescue robots find their targets through communicated
coordinates passed by the scout. Then
the rescue robots perform their tasks as the scout continues searching the
environment. The present effort includes three fully functional mobile robots
and a concurrently running simulation.
In real world situations where small robots
may be used to search small crevices or fragile structures, having robots
search for signs of life is extremely beneficial. Furthermore, a simulation that can provide
better paths for robots to maneuver can reduce tardiness and protect the
real-time robots from hazards. The use
of robots will eliminate life-threatening situations where humans cannot risk
going into unstable structures or fire-engulfed environments.