Development of the ROS-based Unmanned Vehicle System for Drowning Rescue

• Main Authors: HUANG, JEN-KUAN, 黃任寬
• Other Authors: LIN, YING-HONG
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/rqc32p

碩士 === 長榮大學 === 資訊暨設計碩士學位學程 === 107 === The study proposes an application framework for drowning rescue in the sea using different types of unmanned vehicles (unmanned aerial vehicle (UAV) combined with unmanned boat (UB) to develop a partially-automated unmanned rescue system based on the ROS system. In the scenario of drowning rescue, rescuers operate the UAV to search for drowning persons and deploy lifebuoys; meanwhile, the UAV also direct the UB carrying the lifebuoy to the drowning person’s position. Since the unmanned boat and car has the same driving architecture, instead of testing on the UB, we test the proposed method through land-based testing using the unmanned car. Testing results, which meet the expected goal, show that the proposed leading method can properly guide the following vehicle directly below the UAV. The proposed method can not only decrease rescue time and personnel cost but also improve the rate of successful rescue. Currently, the prototype of UB has been developed, and in the near future, it will be deployed for further testing and verification for drowning rescue in the sea.