UAV Platforms for Autonomous Navigation in GPS-Denied Environments for Search and Rescue Missions

This paper presents the development, instrumentation, system integration, algorithm development, and flight testing of two UAVs for autonomous search and rescue in GPS-denied environments. The first UAV uses a Simultaneous Localization and Mapping (SLAM) algorithm to map the environment and localize itself within it. As it explores the disaster zone, it is designed to scan the environment for victims using a computer vision algorithm. Once the victims are identified, a second UAV is designed to be deployed to distribute rescue packages to the identified victims. Location of the victims can also be saved in the generated maps to help human rescuers locate the victims. Simulation and flight test results are shown.