Fall Validation Demo Video
The below video shows the final system demonstration. Both the systems autonomously navigate in an unknown environment to detect opening/doors, enter the building, search for fire and extinguish it collaboratively using the extinguishing subsystem.
MBZIRC – Second Progress Report: Specifically for PhoeniX you can refer the Challenge 3 section of this video
The below video shows the important milestones achieved in the Spring 2019 semester. It includes our simulator, UAV and UGV performing the autonomous fire fighting mission, the fire detection and localization subsystem which uses the FLIR BOSON 640 camera, fire extinguishing subsystem using the modified fire extinguisher. Also this video is a part of CMUs official submission for First Progress Report - MBZIRC 2020.
SVD & Spring Semester – Highlights
The below video shows the important milestones achieved in the Spring 2019 semester. It includes our simulator, UAV and UGV performing the autonomous fire fighting mission, the fire detection and localization subsystem which uses the FLIR BOSON 640 camera, fire extinguishing subsystem using the modified fire extinguisher. Also this video is a part of CMUs official submission for First Progress Report - MBZIRC 2020.
Simulator development
To ensure the safety of our UAV and to test the code, the team has developed a custom gazebo siumulation environment which has a building and multiple fire locations denoted by red blocks on the building walls. The code for the system is tested in simulation first and after rigorous testing the code is run on the real robot. The below video shows the firefighting mission being carried out in simulation where the systems go towards the fire location and return back to the base station.
SVD – UAV Demo
In the Spring Validation Demonstration, the UAV followed a desired trajectory by lifting a 1.5 KG dead weight which was attached to the fire extinguisher. The UAV used a Intel Tracking Camera for localization and the output was fused with the IMU onborad using the PX4 EKF2. Once it reached the waypoint, it rotates in place for about 90 degrees and then moves to detect fire, once it detects fire, it starts to change the yaw to point directly in line of sight of the fire (the video shows the demo). Whenever the fire region is within a certain radius we engage a laser pointer which simulates the fire fighting task. Once a timeout has occured, the UAV lands at a specified waypoint. The video below shows the complete SVD demo for the UAV subsystem.
SVD – Husky Demo
In the Spring Validation Demonstration, the UGV/Husky followed a desired trajectory which was in the form of wapoints 12 m apart. The husky used a Intel Tracking Camera for localization. Once it reached the waypoint, it rotates in place for about 90 degrees and then moves to detect fire, once it detects fire, it starts to move as the location of fire is changed (the video shows the demo). Whenever the fire region is within a certain radius we engage a laser pointer which simulates the fire fighting task. Once a timeout has occured, the husky returns back to the base station (location from where it started). The video below shows the complete SVD demo for the AGV subsystem.