Abstract
In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS) Noetic. Upon deployment in closed, initially unknown environments, the system aims to generate a comprehensive map and identify any present 'victims' using AprilTags as stand-ins. We discuss our solution for search and rescue missions, while additionally exploring more advanced algorithms to improve search and rescue functionalities. We introduce a Cubature Kalman Filter to help reduce the mean squared error [m] for AprilTag localization and an information-theoretic exploration algorithm to expedite exploration in unknown environments. Just like turtles, our system takes it slow and steady, but when it's time to save the day, it moves at ninja-like speed! Despite Donatello's shell, he's no slowpoke - he zips through obstacles with the agility of a teenage mutant ninja turtle. So, hang on tight to your shells and get ready for a whirlwind of reconnaissance! Full pipeline code this https URL Exploration code this https URL
Abstract (translated)
为了应对灾难场景中有效的侦察需求，本文提出了一种使用Turtlebot3和Robotic Operating System (ROS) Noetic构建完整的自主机器人系统的设计和实现。在部署到封闭、最初未知的环境中后，系统旨在生成全面地图，并使用AprilTags作为替代品识别出任何潜在的“受害者”。我们讨论了我们的搜救任务解决方案，同时探索更高级别的算法以提高搜救功能。我们引入了立方体卡尔曼滤波器来帮助减少AprilTag定位的平均平方误差[m]，并介绍了信息论探索算法来加速未知环境中的探索。就像乌龟一样，我们的系统稳中求进，但当需要取得胜利的时候，它就像忍者一样快速移动！尽管Donatello的壳，他也不是个慢吞吞的，他像青少年突变忍者一样灵活地穿过障碍物。所以，紧握你的壳，准备迎接一场侦察狂潮吧！完整管道代码，https://URL；探索代码，https://URL
URL
https://arxiv.org/abs/2404.13767
