Abstract In a scenario where fire accidents takes place the priority is always human safety and acting swiftly to contain the fire from further spreading. The modern autonomous systems can promise both human safety and can perform actions rapidly. One such scenario which is motivated by urban firefighting was designed in challenge 3 of MBZIRC 2020 competition. In this challenge the UAV’s and UGV collaborate autonomously to detect the fire and quench the flames with water. So, in this project we have developed Robot Operating System (ROS)-based autonomous system to solve the challenge for UGV criteria by detecting targeted objects in real-time, in our case its simulated fire and red colored softballs. Then finally localize those targets as markers in the map and navigate autonomously to all those targets. This work has two sections, in the first section mapping and localizing the fire and softballs in highly cluttered environment and then reaching those targets autonomously. Robustly mapping the area with adequate sensors and detection of targets with optimally trained CNN based network is the key to localizing of the targeted objects in a highly cluttered environments.


    Access

    Download


    Export, share and cite



    Title :

    Development of task-oriented ROS-based autonomous UGV with 3D object detection



    Publication date :

    2020-01-01


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Development of task-oriented ROS-based Autonomous UGV with 3D Object Detection

    Raveendran, Rajesh / Ariram, Siva / Tikanmaki, Antti et al. | IEEE | 2020


    Autonomous vehicle object detection

    MILLER KENNETH JAMES / MARTIN DOUGLAS RAYMOND / DUDAR AED M et al. | European Patent Office | 2018

    Free access

    AUTONOMOUS VEHICLE OBJECT DETECTION

    BASU RESHMI | European Patent Office | 2022

    Free access

    Autonomous vehicle object detection

    KENNETH JAMES MILLER / DOUGLAS RAYMOND MARTIN / AED M DUDAR et al. | European Patent Office | 2018

    Free access

    AUTONOMOUS VEHICLE MANAGEMENT BASED ON OBJECT DETECTION

    RODRIGUEZ BRAVO CESAR AUGUSTO / KWATRA SHIKHAR / RAKSHIT SARBAJIT K et al. | European Patent Office | 2022

    Free access