Inertial sensors based tracking autonomous maneuvering and path finding using multi robots for disaster response

Abstract

After disaster the major impacts to the affected area transform the area into an unknown area which hardens the process of emergency response Smartphones in the event of disaster scarcely helps as the GPS and Cell network are inaccessible within the area Modern disaster response utilizes intelligent rover robots usually multi robots system to assist search and rescue operations Multi robot systems are basically two or more simple robots with the ability to coordinate with each other to achieve some well defined goals The major challenge posed for these rovers is positioning tracking their movements and path planning in an unknown map less area without any external positioning reference To track and localize the position of a rover robot in an GPS denied environment without any help of external information sensors a new inertial navigation scheme SINSAR is proposed The scheme harnesses the internal inertial sensors of modern smartphones fixed on the rover Inertial sensors namely Accelerometer Magnetometer and Gyroscope in the smartphones are used to detect the changes to the phones acceleration direction and angular rotation and measures them without reference to the force that caused the change The data form the sensors are then processed to continuously track the movement of the rover and localize their position in a discrete map based on dead reckoning mechanism newline