HexaRover: A Six-Wheeled Bot for Critical Rescue Missions

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 12 Issue: 04 | Apr 2025 www.irjet.net p-ISSN: 2395-0072

HexaRover: A Six-Wheeled Bot for Critical Rescue Missions

L.

Rangaiah1 , Nishanth K2 ,

Shrihari Chandrakantha Mallya

3

1 Dean & Professor, Department of Electronics and Communication Engineering, Rajarajeswari College of Engineering, Bangalore, Karnataka, India

2 Student, Department of Electronics and Communication Engineering, Rajarajeswari College of Engineering, Bangalore, Karnataka, India

3 Student, Department of Electronics and Communication Engineering, Rajarajeswari College of Engineering, Bangalore, Karnataka, India ***

Abstract - Disaster response and relief efforts are often hinderedbyunpredictableterrain, hazardousconditions,and limited accessibility to affected areas. Traditional human-led search and rescue missions face significant risks and delays duetounstablestructures,debris,andenvironmentalhazards. The HexaRover is designed to address these challenges by providing an advanced, autonomous six-wheeled robotic system tailored for critical rescue missions. HexaRover integratesarobustsix-wheeldrivesystemtomaximizeterrain adaptability and maneuverability, enabling seamless navigation over rough, debris-filled, and unstable surfaces. Equipped with an array of state-of-the-art sensors, including LiDAR, ultrasonic sensors, infrared thermal imaging, and environmentalsensors,HexaRoverenhancesthedetectionand identification of survivors in disaster-stricken zones. Furthermore, it employs machine learning-based obstacle avoidance and GPS-guided autonomous navigation to ensure efficient path planning and movement in dynamically changing environments. The robot features a multi-modal communicationsystemcomprisingGSM,IoTcloudnetworking, and a real-time data transmission module that allows rescue teams to remotely monitor and control the rover from a central command station. Its AI-driven decision-making algorithms process sensory inputs to optimize search

Key Words: Disaster Response, Autonomous Robotics, HexaRover, Obstacle Avoidance, Terrain Adaptability, Machine Learning Navigation, and Real-time Data

Transmission

1.INTRODUCTION

Disasters, both natural and man-made, pose a significant threattohumanlife,infrastructure,andeconomicstability. Earthquakes, floods, hurricanes, wildfires, and industrial accidentsfrequentlyleavebehinddevastatedregionswhere timely search and rescue (SAR) operations are critical. Traditional SAR operations rely heavily on human responders, who must navigate treacherous conditions, oftenplacingtheirownlivesatrisk.Despitetechnological advancements, response times in such scenarios remain slowduetologisticalchallenges,terrainlimitations,andthe sheerscaleofdestruction.Autonomousroboticsystemsoffer

apromisingsolutiontomitigatetheserisks.Overthepast twodecades,roboticshasrevolutionizedmultipleindustries, frommanufacturingtospaceexploration,anditsapplication in disaster management has grown exponentially. Search and rescue robots are designed to traverse complex environments, detect survivors, and relay critical data to rescue teams, ensuring that first responders can focus on high-priorityareas.Amongthese,wheeledrobotsprovidea balanceofmobility,payloadcapacity,andcosteffectiveness. However, traditional wheeled robots often struggle with unstableterrain,acrucialfactorindisasterzones.

1.1 Motivation for the Study

The primary motivation behind the development of HexaRover stems from the need for a highly mobile, intelligent,andautonomoussystemcapableofprovidingrealtimesituationalawarenessindisaster-strickenareas.Someof thekeychallengesinSARmissionsthatHexaRoveraimsto addressinclude:

1. TerrainNavigation–Disasterzonesarefilledwith obstacles such as rubble, uneven ground, and unstable structures. HexaRover’s six-wheeled design, along with advanced suspension systems, ensures it can traverse difficult terrain without tippingoverorlosingtraction.

2. Survivor Detection – Efficient identification of survivorstrappedunderdebrisiscrucial.HexaRover integrates LiDAR, infrared thermal cameras, and acousticsensorstoenhanceitsabilitytodetectlife signals.

3. Real-Time Communication – A key limitation in current SAR operations is the delay in relaying information between response teams and robotic systems.HexaRoverleveragesGSMandIoT-based cloud connectivity to enable real-time data transmission, ensuring that rescuers have immediateaccesstocriticalinsights.

4. AutonomyandAI-DrivenDecisionMaking– Many existing robotic solutions require direct human interventionforoperation.HexaRoverimplements AI-driven path planning, obstacle avoidance, and collaborativedecision-makingalgorithms,reducing

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 12 Issue: 04 | Apr 2025 www.irjet.net p-ISSN: 2395-0072

human workload while increasing operational efficiency.

1.2 Objectives of the Study

 DesignandDevelopmentofaHighlyMobileRobotic Platform: Implement a six-wheeled system that optimizesstabilityandmanoeuvrabilityinrugged conditions.

 Integration of Multi-Sensor Data Processing: Employ LiDAR, infrared, ultrasonic, and environmental sensors for comprehensive data collection.

 Implementation of AI-Based Navigation and Obstacle Avoidance: Develop machine learning algorithms for intelligent decision-making and efficientrouteplanning.

 EnhancingCommunicationSystems:Ensurereliable real-time data transmission using GSM, IoT networking,andcloud-basedmonitoring.

 Experimental Validation in Simulated Environments: Conduct field tests to assess navigation accuracy, battery performance, and environmentaladaptability.

 Developing a Swarm Intelligence Framework: EnablemultipleHexaRoverstocoordinateinlargescalerescuemissions.

2. SYSTEM DESIGN & METHODOLOGY

TheHexaRoverisdesignedtobearobust,autonomous,and adaptable search-and-rescue robot that can navigate hazardousterrainsandrelaycriticalinformationtohuman responders. Its system design integrates multiple subsystems, including locomotion, sensing, navigation, communication,powermanagement,andAI-drivendecisionmaking. Each subsystem is optimized for reliability and efficiencytoensurehighperformanceindisasterscenarios.

2.1 Mechanical Structure & Locomotion System

1. ChassisandStructuralDesign

ThechassisofHexaRoverisbuiltfromhigh-strength aluminumalloywithreinforcedjointstowithstand impacts and harsh environmental conditions. The frame is lightweight yet durable, ensuring the robot’s mobility without compromising structural integrity. Additional shock-absorbing components havebeenintegratedtoreducevibrationscausedby roughterrains.

2. Six-WheelDriveMechanism

HexaRover utilizes a six-wheel independent suspension system, allowing each wheel to adjust dynamically to terrain variations. The primary advantagesofthissysteminclude:

 Enhanced Stability: Reduces the risk of topplingonunevensurfaces.

 Improved Traction: Enables movement across loose soil, gravel, and rocky landscapes.

 ObstacleHandling:Facilitatesclimbingover debrisandsmall obstaclesupto20cmin height.

Eachwheelispoweredbyahigh-torqueJohnsonDC motor(12V,300RPM)controlledbyBTS7960motor drivers, ensuring smooth speed adjustments and torqueefficiency.

3. AdaptiveSuspensionSystem

Theroveremploysasemi-activesuspensionsystem controlled by microcontrollers. This system dynamically adjusts the damping characteristics based on terrain feedback from onboard sensors, significantly improving shock absorption and stabilityindisasterenvironments.

2.2 Sensor Integration & Perception System

HexaRoverincorporatesadiversesetofsensorstoenhance environmental perception and obstacle detection. These include:

1. LiDAR-BasedMapping&ObjectDetection

 ModelUsed:RPLIDARA2M8

 Function: Real-time 2D mapping of surroundingsandobstacledetection.

 Range:12meters,360-degreefieldofview.

 Integration: Works in combination with ultrasonic and IR sensors for precise localization.

2. Ultrasonic&InfraredSensorsforProximitySensing

 Model:HC-SR04(ultrasonic),IRproximity sensors.

 Function:Short-rangeobstacledetection.

 Application: Enhances obstacle avoidance capabilitiesinclutteredenvironments.

3. Thermal&InfraredImagingforSurvivorDetection

 Model:FLIRLepton3.5

 Function: Identifies heat signatures of survivorstrappedunderdebris.

 Application: Facilitates AI-driven victim localization.

4. EnvironmentalSensorsforHazardDetection

 Model: MQ-135 (gas detection), DHT22 (temperature&humiditysensor).

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 12 Issue: 04 | Apr 2025 www.irjet.net p-ISSN: 2395-0072

 Function: Detects hazardous gases and environmentalconditions.

 Application: Helps assess air quality in collapsedstructures.

2.3 Navigation & Path Planning Algorithms

HexaRover'smovementiscontrolledusingacombinationof GPS-basedlocalization,LiDAR-assistedSLAM(Simultaneous Localizationand Mapping),and AI-powered path planning algorithms.

1. GPS-BasedNavigationSystem

 Module:NEO-6MGPS.

 Function: Provides real-time location trackingwith±2.5maccuracy.

 Application:EnsuresHexaRoverremainson apre-definedsearchgrid.

2. SLAMforDynamicMapping

 Technology:SimultaneousLocalizationand Mapping(SLAM).

 Function: Generates real-time environmental maps, continuously updatingasHexaRovermoves.

 Application: Crucial for navigating unknowndisasterzones.

3. AI-PoweredObstacleAvoidance

 Algorithm Used: Deep Reinforcement Learning.

 Training Data: Pre-trained on datasets of variousterrainsandobstacles.

 Function: Enables real-time adaptive movementdecisions.

2.4 Communication & Data Transmission System

1. GSM&IoTConnectivity

 Module:SIM800L.

 Function: Sends telemetry data to cloud serversforreal-timemonitoring.

2. WirelessVideoStreaming

 Module:ESP32-CAM.

 Function: Streams live video to rescue teams.

3. Multi-RobotCoordination

 Protocol:MQTT-basedcommunication.

 Function:EnablesmultipleHexaRoversto sharemappingdata.

2.5 Power Management & Battery Optimization

1. PowerSupply&BatterySystem

 BatteryUsed:12V20AhLi-ionbattery.

 BackupSystem:Solarchargingforextended operations.

2. EnergyOptimizationStrategies

 Sleepmodeactivationinlow-energystates.

 Intelligent load balancing of powerconsumingcomponents.

2.6 Software Implementation & AI Integration

1. MachineLearningModels:CNNforobjectdetection.

2. RoboticOperatingSystem(ROS):Frameworkused formotionplanning.

3. CloudDataProcessing:Storesmapsandsensordata inreal-timeforrescuecoordination.

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 12 Issue: 04 | Apr 2025 www.irjet.net p-ISSN: 2395-0072

3. CONCLUSIONS

The HexaRover project marks a significant leap in autonomous search and rescue (SAR) robotics, demonstratingitseffectivenessindisasterresponsethrough enhanced mobility, survivor detection, and real-time communication. With its six-wheeled drive and adaptive suspension,HexaRovernavigatesroughterrainsseamlessly, while thermal imaging and acoustic sensors improve survivor identification. IoT and GSM-based networking ensurereliabledatatransmission,andAI-drivennavigation reduces human intervention. Additionally, solar-assisted charging extends operational efficiency for prolonged missions. By integrating advanced sensor fusion, artificial intelligence, and multi-agent coordination, HexaRover emerges as a scalable and efficient solution for disasterprone regions, minimizing risks for human rescuers and improvingresponsetime.

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