In our rescue robot, we prefer to use STM as a processor because it is both professional and more functional and efficient on the electronic side. We use 4 STM103 for 4 DC motors and 1 STM32 Discovery board to be in the central of the communication network. What we are going to do is: Setting up motors with PWM, obtaining speed data with encoders, in addition to writing functions for engine and vehicle health for slow start and slow stop, using a timer function in general, driving the motor, carbon dioxide, acceleration and temperature with the necessary sensors will be reading. For communication between circuits, we prefer Can Bus communication system. The reason is that it can transfer data from a single port using fewer cables. To control the system from the host computer on the vehicle, we prefer Ethernet communication.
A ROS-based robot will be developed to work in harmony with all the software and programs we will use and develop in our vehicle.
For communication between the robot and the base station, Ethernet communication will be preferred since the speed and the rate of exposure to negative factors is lower than the wireless communication. Wi-Fi, LTE and low-frequency wireless communication modules will also be available to expand the robot’s range of use.
Since the use of GPS in closed areas is not efficient, the data from the Encoder and IMU will be more accurate using Extended Kalman Filter technique.
LIDAR will be used because of its high resolution for mapping. Although LIDAR has disadvantages, it seems to be the most optimal solution for mapping.
Opencv and SpeechRecognition libraries will be used in Python for image and sound processing for our robot.
A thermal camera and a CO2 sensor will be used to determine if any living things in the disaster area survive body temperature or to detect any fire.