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Robot that explores a building while mapping and detecting fire hazards and survivors

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Fire fighting robot

By Lidor Shimoni, Daniel Angel

  • Uses SLAM to map its surrounding
  • Autonomously exploring
  • Recognizes fire and trapped peoples and marks their location on the map

Example

Image from simulation

Running in simulation

For a simulation with joystick controller use:

roslaunch joystick_slam.launch

For a simulation with move_base controller use:

roslaunch move_base_slam.launch

For autonomous exploration use:

roslaunch lite_exploration.launch

Dependencies

The following dependencies are required:

  • python 3.X
  • python3-opencv
  • teb_local_planner as move_base -> local_planner
  • GlobalPlanner as move_base -> global_planner
  • diffdrive
  • frontier_exploration

Optional

  • Explore_lite

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  • Python 99.6%
  • CMake 0.4%