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Automated Fire Detection and Mapping Robotic System for Emergency Services Assistance:

Integration of SLAM-based Navigation, images/image Recognition, and Augmented Reality for Suitable Environmental Monitoring and Response

INTRODUCTION

An autonomous firefighter robotic system assistance utilizing SLAM-based navigation, RGB- D based CNN for fire detection, and fire-alert marker system. The system seamlessly integrates real-time mapping, precise fire detection and its localization on the map. It demonstrates a promising solution for a prototype of firefighter robot. A

TOOLS

  • Hardware: ROSbot 2R equipped with Rpi4 embedded computer, STM32F407 microcontroller, 4 encoders & DC motors for each wheel, IMU, RpLidar A2, Orbecc Astra RGB-D camera and 4 VL53L0X infrared distance sensor.

  • Software:

    • Running under Husarion OS, provided by ROS middlewre.
    • Code implemented in C++ and Python.
    • Rviz 3D visualizer, custom GUI server and gameped controller as HMI.

  • Integrated functionalities:

    • Localization via Adaptative Monte Carlo Localization (AMCL)
    • Simultaneous Localization And Mapping (SLAM) using gmapping
    • Autonomous navigation provided by move_base
    • Autonomous exploration powered by explore_lite
CAPABILITIES

  • images/image recognition: Fire detection with model based on YOLOv8 B

  • Obstacle position estimation: Fire distance and angle estimation to the robot and map representation as a marker. C

  • Descentralized computation: ROS connection between rosbot and server via LAN or P2P VPN network D

  • GUI server: Website for monitoring and operation over all the Internet and with multi-plattform support. E

FUNCTIONAL DIAGRAM

F

GETTING STARTED

Software development is divided into several ROS packages:

  • descentralized_bringup: Placeholder for programs launchfiles.
  • cnn_image_processing: Augmented reality via ArUco detection + fire recognition model + fire location estimation
  • gamepad_controller: Allow to control rosbot movement using a Xbox/PS4 controller device.
  • map_marker: fire marker placement on map
  • robot_gui_bridge: Graphical interface webserver
  • ros_astra_camera: Low level controller for camera activation
  • rosbot_ekf: Low level motors sensor and extended Kalman Filter for fusion sensor
  • rplidar_ros: Low level controller of LiDAR sensor
  • tutorial_pkg: Tutorial packages provided by manufacturer, modified for testing purposes.

Prerequisites: Ubuntu 20.04 or derivated flavours & ROS Noetic

Main functionality can be launched by executing next commands:

  1. bash dependencies/setup.sh
  2. catkin_make
  3. roslaunch descentralized_bringup hardware.launch (ROSbot)
  4. roslaunch descentralized_bringup software.launch (ROS slave device)

Sofware launcher has several arguments to select what to run:

Argument Description Default value
localization Map Server + AMCL (!) Not compatible with slam argument True (☑)
map_name Yaml file loader for map Server. pasillo_patio.yaml
slam Gmapping . (!) Not compatible with localization argument False (☒)
CNN YOLO Model + AR node True (☑)
markers Fire marker on map True (☑)
PUBLISHED PAPER

More info about the project can be found on project_memory.pdf