Design of Fire Guidance and Rescue System Based on ROS Platform

In order to quickly search for disaster victims in a fire and carry out rescue activities while ensuring the safety of rescue personnel, this article designs a fire guidance and rescue system based on ROS platform, with Nano as the core controller, the upper computer as the remote monitoring platform, and multiple sensors. The main function is to use Lidar and apply the Gmapping-Slam algorithm for on-site map information collection. At the same time, a odometer is used to achieve real-time relocation, and a camera is used to transmit on-site images to the upper computer to assist rescue personnel in locating the affected population. Then, based on the marked points on the map, The RRT-Connect algorithm fused with KD-tree is applied for shortest path planning, guiding rescue personnel to achieve short-term rescue. The experiment shows that the system can meet the function of quickly guiding rescue personnel to rescue in case of fire, reduce the time required for rescue, achieve the basic requirement of reducing the possibility of secondary injury to rescue personnel, and meet the expected expectations.