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All Journal International Journal of Electrical and Computer Engineering
Juan M. Calderon
Universidad Santo Tomas
Computer Science & IT Electrical & Electronics Engineering

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Visual victim detection and quadrotor-swarm coordination control in search and rescue environment Gustavo A. Cardona; Juan Ramirez-Rugeles; Eduardo Mojica-Nava; Juan M. Calderon
International Journal of Electrical and Computer Engineering (IJECE) Vol 11, No 3: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v11i3.pp2079-2089

Abstract

We propose a distributed victim-detection algorithm through visual information on quadrotors using convolutional neuronal networks (CNN) in a search and rescue environment. Describing the navigation algorithm, which allows quadrotors to avoid collisions. Secondly, when one quadrotor detects a possible victim, it causes its closest neighbors to disconnect from the main swarm and form a new sub-swarm around the victim, which validates the victim’s status. Thus, a formation control that permits to acquire information is performed based on the well-known rendezvous consensus algorithm. Finally, images are processed using CNN identifying potential victims in the area. Given the uncertainty of the victim detection measurement among quadrotors’ cameras in the image processing, estimation consensus (EC) and max-estimation consensus (M-EC) algorithms are proposed focusing on agreeing over the victim detection estimation. We illustrate that M-EC delivers better results than EC in scenarios with poor visibility and uncertainty produced by fire and smoke. The algorithm proves that distributed fashion can obtain a more accurate result in decision-making on whether or not there is a victim, showing robustness under uncertainties and wrong measurements in comparison when a single quadrotor performs the mission. The well-functioning of the algorithm is evaluated by carrying out a simulation using V-Rep.
Co-Authors Eduardo Mojica-Nava Gustavo A. Cardona Juan Ramirez-Rugeles