Modelling Wireless Robots for Urban Search and Rescue in Artificial Rubble

Using robots to assist rescue personnel in USAR (Urban Search and Rescue) missions is an active area of research. Researchers are developing robots to penetrate into rubble to gather information about the environment and to search for victims. The School of Engineering and Computer Science of Victoria University of Wellington is developing a team of robots, the "robot family" to help at disasters. The robot family is a three-tier system. The first tier the "grandmother" which carries second tier "mother robots" to the rubble. The mother robot each launches a group of the third tier "daughter robots" that will penetrate the rubble surface. The daughter robots will burrow deep into the disaster site. They will be equipped with sensors to search for and locate trapped persons. They are designed to be small, battery operated, low cost and disposable. The team of robots is hierarchically structured and to be remotely monitored by rescue personnel at a safe distance from the rubble via a wireless communication link. This thesis describes the successful implementation of a wireless communication platform for the team of robots. This was verified using a simulated rubble site. A suitable ZigBee wireless module was selected by comparing a list of target brands to form the wireless network. A group of simulated wireless daughter robot models were developed by attaching wireless modules to microcontrollers. An automatic routing wireless network was implemented between the robots. They were deployed into artificial rubble and the communication system was characterised. Proof of concept experiments were carried out and demonstrated that rescue personnel using a computer at a safe distance outside the rubble could successfully establish reliable communication to monitor or control all robots inside the artificial rubble environment.