R2D2: Rotating-turret 2D-scanning and dead-reckoning for remotely operated rovers over resource constrained network systems

The use of rovers in navigating dangerous and uncharted terrains for localization, mapping and data-gathering for search and rescue in disaster management is a challenging domain, especially with constrained network connectivity. In this paper, a rover mounted rotating turret-based 2D ultrasonic distance mapping and Inertial Measurement Unit (IMU)-based dead-reckoning (R2D2) mechanism is proposed. The wireless rover is operated over a constrained network, allowing its handler to gather situational awareness of a hazardous site remotely, and without risking lives. A visualization of the path of this rover by means of a low data intensity fusion map generated using a combination of ultrasonic distance measurements and relative positioning information from the dead-reckoning system is performed by the remote operator.