Autonomous post‐disaster indoor navigation and survivor detection using low‐cost micro aerial vehicles

摘要

This paper introduces an innovative autonomous survivor detection pipeline tailored for low-cost micro aerial vehicles (MAVs) operating in post-disaster indoor environments. This consists of three main components: (1) a novel pipeline for survivor geotagging, which includes autonomous navigation, mapping, and detection of survivors using thermal images; (2) a navigation strategy to ensure complete thermal scanning coverage for survivor detection using low-cost commercial grade thermal camera; and (3) robust and accurate survivor detection using YOLOv8x and thermal imaging. To demonstrate the effectiveness of the proposed framework, first, the autonomous navigation algorithm is simulated in Robotic Operating System (ROS) and experimentally validated under different layouts. Second, the YOLOv8x algorithm is pretrained and achieves high accuracy. Finally, a real-world implementation was conducted with partially covered survivors in a simulated post-disaster environment. The results demonstrated the proposed pipeline can accurately map the layout of the environment and identify all survivors. This study demonstrates that affordable MAVs with basic thermal cameras can be effectively used to geotag survivors to support rescue missions during post-disaster events.