R3Diver: Remote robotic rescue diver for rapid underwater search and rescue operation

摘要

In this paper, a very low cost remote robotic diver system, namely R3Diver is developed for rapid underwater search and rescue operation. An efficient modular design is proposed which ensures both hydrostatic and hydrodynamic stability under various environmental conditions underwater. It offers user friendly control with ease of portability. One major advantage of the robot is that it provides a live video feedback of underwater conditions so that human divers can be deployed at the exact locations to make rescue operations more efficient and less time-consuming. Moreover, a human machine interface (HMI) is developed to detect presence of human under water utilizing HOG detector and Haar Cascade. Underwater exploration capabilities of the designed remotely operated vehicle also opens up other ventures, such as underwater inspection, fish feeding, and object detection. Extensive testing under water has been carried out with the developed robot and a very satisfactory performance is obtained in terms of smooth control, steady speed variation and dynamic video data feedback at different levels of water.