Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Human Controlled Search and Rescue Robot with

BLE-based Victim Localization
1 2
Andrew Nold D. Asuncion Deejay Mavrick G. Bañaga
Department of Electronics EngineeringPamantasan ng Department of Electronics EngineeringPamantasan ng
Lungsod ng Maynila Manila, Philippines Lungsod ng Maynila Manila, Philippines

3 4
Stanley Clarence C. Lao Nicholai Allen A. Regalado
Department of Electronics EngineeringPamantasan ng Department of Electronics EngineeringPamantasan ng
Lungsod ng Maynila Manila, Philippines Lungsod ng Maynila Manila, Philippines

5 6
Ralph Lenard L. Rogel Carl Vince Nathaniel T. Taboada
Department of Electronics EngineeringPamantasan ng Department of Electronics EngineeringPamantasan ng
Lungsod ng Maynila Manila, Philippines Lungsod ng Maynila Manila, Philippines

Charles G. Juarizo7 Fernando Victor V. De Vera8

Department of Electronics Engineering Department of Electronics Engineering
Pamantasan ng Lungsod ng Maynila Manila, Philippines Pamantasan ng Lungsod ng Maynila Manila, Philippines

Abstract:- This study presents the development of a Reference [4] – [5] developed a Bluetooth Low
human- controlled ground search and rescue robot with Energy (BLE) based close detection system that is supported
victim localization using modified BLE beacons and an by terrestrial and aerial robots to determine whether such a
ESP32 camera. The system is designed to aid rescuers system is feasible in the localization and detection of victims
during search and rescue operations, reducing their risk in unfamiliar and complex disaster areas. [6] designed an
by providing ambient conditions and live video footage IoT-based multi-function remote-controlled rescue robot
of the vicinity. The system uses Arduino as its system, which uses several technologies like a sensor Global
microcontroller and HC-12 transceiver modules to Positioning System (GPS), single-chip microcomputer, Wi-
wirelessly control the robot. The system is also equipped Fi, and Android. The system uses multiple technologies to
with a GPS Module and a BLE Beacon to track the provide an auxiliary rescue platform with a multi-agent
location of the robot. Through numerous tests, the robot network that incorporates sensing, motion, communication,
can accommodate the rescuers in the localization of and operating capabilities. [7] developed a semi-autonomous
victims, and the researchers recommend further mobile search and rescue robot for alive human detection.
improving some functions of the robot. Their system uses a PIR sensor for human detection, a
joystick, RF technology for control, an ultrasonic sensor for
Keywords:- Ground Search and Rescue Robot, BLE Beacon, obstacle detection, a gas sensor to detect leaks, and an IP
ESP32 Camera, Global Positioning System (GPS), HC-12 camera to analyze and observe environmental conditions. A
Transceiver Module. PIR sensor at the first level detects people using their
radiated heat. Afterwards, an IP camera at the second level
I. INTRODUCTION and an infrared wave confirm the human presence in
disaster-affected areas.
AS a country under the Pacific Ring of Fire,
Philippines is vulnerable to volcanic eruptions and This paper will supplement the previous studies of [5]
earthquakes [1] and is one of the most susceptible to natural relating to the use of temperature, humidity, gas sensors, and
disasters. In the disaster response phase, where there is a a camera. The previous study did not implement these
limited window with a decreasing likelihood of rescuing features, which would have helped rescuers better
trapped individuals, effective planning of search and rescue understand the disaster environment around possible
operations has a significant impact [2]. The ability to search victims. Aside from that, the paper will also fill the gap left
for and locate trapped survivors after an earthquake or the by [6] in their paper, wherein the wheel structure of their
collapse of a built structure is vital. Urban search and rescue rescue robot has a simple design, lightweight and quick but
teams must intervene manually with caution to prevent struggles when faced with obstacles or complex and rough
subsequent collapses that could endanger the rescuers. terrains. To address this, the researchers will use track
Cluttered debris could make it impossible for anybody to get wheels to provide more maneuverability when it comes to
near the victims, and structures must be propped up before rough terrains such as stairs, slopes, and unstructured
human assistance due to the possibility of more landslides ground, which is especially needed in the aftermath of an
[3]. earthquake. Furthermore, this paper will also fill the gap by

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Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
[7] related to the usage of BLE and GPS technology to help module provides long-distance wireless communications of
rescuers mark and navigate to the exact location of nearby up to 1000 meters in open space. The study will also explore
possible victims. The previous study did not have any the practicality of these claims and the communication range
positioning system installed and therefore relied heavily on of the module in an interior setting. For the robot to access
thefamiliarity of the rescuers with the area. difficult- to-reach regions in disaster zones, its size must
also be minimal. The study will also exclude the
This study seeks to develop a robot for search and identification of any potential collapses or falling debris
rescue equipped with a camera, temperature, humidity, and within the disaster zone that might hinder the ground robot's
gassensors, as well as BLE and GPS technology. This study function.
aims to
II. REVIEW OF RELATED LITERATURE
 Develop a ground vehicle prototype that allows rescuers
to locate victims in real-time using a camera Reference [8] explained the importance of search and
 Monitor the temperature, humidity, and presence of rescue robot in search and rescue operations by extend the
gasses in the target area ability of the rescuers to grasp and act in a search and rescue
 Build a prototype that can navigate through rough and operation to quickly locate, evaluate, stabilize, and free
complex terrains such as stairs, slopes, and unstructured victimswho cannot be reached easily.
ground
 Develop a communication system that will transmit Camera and sensors are crucial components of a search
data from the robot to the user using a wireless and rescue robot. [9] proposed a tracked robot prototype
transceiver module with ESP32-CAM face recognition and video streaming
 Control the search and rescue robot using a wireless capabilities using a military robot as the basis of the
controller simulated tracked robot. According to the results, streaming
 Provide outdoor positioning via GPS and indoor the video is excellent, which is possible due to the fast
relative positioning using BLE beacons for the connection of the server. [10] developed a sensor network
localization of possible victims. with gas sensor nodes for detecting hazardous substances in
times of disaster. This is done by combining various
This study will aid search and rescue teams in locating inexpensive and power-efficient sensors for gas,
casualties following an earthquake. Furthermore, this study temperature, and humidity with intelligent information
will help reduce the risk for rescuers by providing them with fusion and signal processing, while [11] used a sensor
ambient data such as the vicinity's temperature, humidity, system using three different sensors: a C02 sensor, a
and gas. This study will also help rescuers navigate through microphone, and a thermal camera for human rescue. The
areas that are hard to reach, like tight spaces and cluttered system's performance in living victim detection under debris
debris. Aside from that, since the proposed search and istested in a simulated high-fidelity disaster area.
rescue robot can scout the target area first, the risk of injury
to rescuers would be significantly reduced. The results of this GPS is a useful technology for outdoor localization.
research will provide further knowledge for future research [12] integrated a GPS in a search and rescue drone, [13]
on disaster response. equipped a search and rescue Autonomous Surface Vessel
with a GPS, and [14] developed a fully autonomous UAV
The scope of the study will only focus on developing a with a GPS that pinpoints coordinates of human presence
search and rescue robot that can measure ambient conditions once the drone detects it.
and provide localization of possible victims after an
earthquake. The researchers aim to contribute to search and For indoor relative positioning, BLE is an effective
rescue operations in the aftermath of calamities like technology. [4], [5] both integrated a BLE-based detection
earthquakes, including debris from a building or structure. system in search and rescue robots for the localization of
The proposed system for the robot consists of a Camera, victims in unknown complicated disaster areas. [14]said that
BLE Beacon, GPS, and multiple sensors, including search and rescue robots should be agile and quick. At the
temperature, humidity, and gas sensors. Aside from that, the same time, the robots should be able to manage rough
proposed design also includes using track wheels for the terrains and, if possible, climb stairs if it requires the
ground robot for it to be able to navigate through rough rescuers to access higher levels of the area. [16] compared
terrains such as stairs, slopes, and unstructured ground. The different ground search and rescue robots that used tracked
detection of victims will be manually done by the rescuer, wheels, while [17], [18] designed a search and rescue robot
who is controlling the robot through a live feed via an LCD capable of navigating complex terrains because of its track
screen. Data from the robot, including information gathered wheels.
from the camera and sensors, and data from the rescuers,
including user inputs and controls, shall be exchanged using III. METHODOLOGY
an HC-12 Wireless Transceiver Module with a legal
frequency band of 433.4 MHz to 473.0 MHz. The A. Research Design
researchers selected the module due to its relativelylow cost, Researchers employed a developmental research
networking capability, data security, and considerable approach. Developmental research is the scientific study of
communication distance. Based on its specifications, the creating, producing, and assessing educational programs,

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Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
procedures, and products that must fulfill internal microcontroller, this information will be transmitted to the
consistency andeffectiveness requirements [19]. In this case, user side using an HC-12 Wireless Transceiver Module.
the researchers developed a search and rescue robot that can Microcontrollers and wireless transceiver modules will be
navigate through complex terrain, locate victims, and record present on both the robot and user sides. The user will
the temperature, humidity, and presence of gas within the instruct and control the robot by giving it commands after it
disaster area. This research seeks to develop a device that has received the data it has acquired from all the inputs.
will contribute to the search and rescue teams.
The following block design demonstrates how the
B. Design of the System researchers will apply BLE for indoor positioning. The
The system comprises essential components such as rescuer controlling the robot will have visual feedback of the
sensors, a camera, wireless communication modules, user robot's immediate surroundings, enabling them to assess the
controls, and a display. situation and make judgments regarding the presence of a
victim. The user can direct the robot to drop a BLE beacon
in its current location after a victim has been found. The
robot will also offer a wireless communication system to
form a two-way communication between the victim and the
rescuer controlling the search and rescue robot.

D. System Architecture
Fig 1 General Block Diagram

Figure 1 shows the system block diagram and its

components: control, sensors and location, the system
microcontroller, and user access and display. The first block
refers to the inputs received and gathered by the robot,
including the temperature, humidity, and gas sensor and the
controls fed to the robot by the user, visual data from the
camera, and location information from indoor and outdoor
positioning using BLE and GPS. These data will
subsequently be stored in the Arduino microcontroller and
sent to the user side using an HC-12 Wireless Transceiver
Module to communicate. The robot and user side will have a
microcontroller and wireless transceiver modules. On the
robot side, the data gathered from all the inputs will be sent
to the user, and in turn, the robot will receive instructions
and control from the user.
Fig 3 System Architecture
C. Conceptual Framework
As shown in Figure 3, the architecture of the system
consists of two-way communication between two Arduino
Mega microcontrollers, one connected to the search and
rescue robot and the other to the controller and display. The
system uses a total of four HC-12 transceiver modules to
function properly. This is because each HC-12 module only
supports half-duplex communication, meaning it can only
transmit or receive data at any given time. The first pair of
HC12 will transmit controller data from the user to the
robot, and the other pair will transmit sensor data from the
robot to the user. On the robot side, the first HC-12 will
receive the controls from the user, and the second HC-12
will transmit data from the sensors connected to the robot
toward the LCD found on the user side.
Fig 2 Conceptual Framework The search and rescue robot side provides four
functions the user will receive: ESP32 Camera, Sensors,
Figure 2 shows the conceptual framework of the GPS, and BLE. The ESP 32 Camera will serve as the user's
search and rescue robot, in the first diagram includes the eye as the user maneuvers the robot within the area to detect
inputs that the robot receives and gathers, such as the potential victims. The robot is connected to Temperature,
temperature, humidity, and gas sensors, the user-supplied Humidity, and Gas sensors. The sensors will provide users
commands, the visual information from the camera, and the with data and information regarding the ambient conditions
location data from both indoor and outdoor positioning of the area, allowing them to detect any possible fire hazards
utilizing BLE and GPS. Following storage in the Arduino and giving extra precautions to the user. The GPS module

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Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
connected to the robot will provide the coordinates of the Figure 6 shows how the user controlled the wheels,
current location of the robot. Additionally, upon victim arms, and BLE dispenser of the robot. For this study, the
detection, the user can drop BLE beacons which will allow researchers used two motor drivers, a VNH2SP30 motor
users to mark the exact position where the user found the driver, and an L298N motor driver, to ensure that the
victim. All data collected from the robot will then be sent to power towards each DC motor connected to the robot is
the HC-12 Module and interpreted with an LCD. maximized. The VNH2SP30 was responsible for the
movement of wheels in the main body of the robot, while
E. Visual Footage System the L298N was dedicated to the forward and backward
movement of the arms. Furthermore, the robot is also
connected to two servo motors, an MG90S micro servo for
dispensing BLE beacons and an MG996R for moving the
arms up and down.

Fig 4 Block Diagram of Visual Footage System H. Wireless Communication System

Figure 4 shows how the researchers used the ESP32

camera for live video feedback. The ESP32 camera hosts a
video-streaming web server that users can access with any
device connected to the same network. The ESP32 Camera
is interfaced and programmed using an Arduino Mega. After
Fig 7 Block Diagram of Wireless Communication System
programming, a link was provided in the serial monitor of
the Arduino IDE, where the user accessed the video from
Figure 7 shows how the researchers used HC12
the camera. The ESP32 Camera only needs to be
Wireless Transceiver Modules to develop a wireless
programmed once, and afterwards, it can be used if its 5V
communication system that transmits data between the robot
and GND pinsare connected to the board.
and the user. There were two Arduino Mega
Microcontrollers, one for the user and the other for the
F. Remote Monitoring System
robot. Since the HC12 Wireless Transceiver Modules are
half-duplex, the researchers used four HC12 Wireless, two
HC12 Transceiver Modules are for transmitting data, while
the other two are for receiving data.

I. Wireless Controller

Fig 5 Block Diagram of Remote Monitoring System

Figure 5 shows the process of monitoring the

temperature, humidity, and gas of the area. The research
Fig 8 Block Diagram of Wireless Controller
mounted the DHT22 Temperature and Humidity Sensor and
MQ-5 Gas Sensor outside the robot. These sensors are
Based on Figure 8, the researchers used a wireless
connected to the Arduino Mega microcontroller connected
controller to control the function of the search and rescue
to the robot. Data gathered from the sensors are then
robot. The wireless controller consists of push buttons for
programmed to be sent by the HC12 module connected to
the search and rescue robot's navigation and arm movement,
the robot toward another HC12 module connected to the
dispensing BLE beacons, and refreshing the sensors and
controller. The gas, temperature, and humidity data
GPS reading.
received by the HC12 module in the controller are then
programmed to be displayed by an LCD connected to the
J. Outdoor Positioning
controller.

G. Robot Mobility

Fig 9 Block Diagram of Outdoor Positioning

Figure 3.14 shows how the outdoor positioning using

NEO6MV2 GPS Module works. The GPS module sends the
coordinates to the Arduino Mega Microcontroller, which is
Fig 6 Block Diagram of Robot Mobility then displayed on the LCD in the controller. The coordinates
are displayed on the LCD, which is then put in Google
Maps to see the actual location of the search and rescue
robot.

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Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology
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K. Indoor Positioning Figure 10 shows how the researchers utilized BLE for
indoor positioning. The user, who controls the robot, sees
the current environment of the robot through the live video
feedback from the ESP32 Camera. Thus, the user will be the
one who will detect if there is the presence of any victim in
the area. Upon detection of the presence of a victim, the user
can instruct the robot to drop a BLE beacon in its current
Fig 10 Block Diagram of Indoor Positioning location, which allows the user to mark the relative position
of the victim. The researcher used NRF Connect Mobile
Application to scan and detect the dropped BLE beacons.

IV. RESULTS AND DISCUSSION

Several testing procedures under different conditions were conducted to evaluate the accuracy and reliability of the search
and rescue robot. All experiments were conducted using the integrated parameters and components of the complete rescue robot.

 Live Feed Accuracy Test

Table 1 Pass Rate for Live Feed Accuracy Test

Condition Pass Rate (%)
Well-Ventilated Room 100
Hallway 100
Outdoor (Rough Terrain) 100
Outdoor (Sloped Terrain) 100

The 100% pass rates indicate that every user successfully detected victims in each condition. This implies an important
level of proficiency and effectiveness in detecting victims using the ESP32 camera. The consistency in the pass rates across
different conditions suggests that the user using the ESP32 camera for live feedback was able to determine the victims in each
condition. However, users must carefully navigate the environment to ensure thorough coverage and accurate detection of victims.

 Temperature Accuracy Test

Table 2 T-test Table for Temperature Paired two Sample for Means
Parameter Temperaturewith DHT22 sensor Temperaturewith Galaxy Sensor Application
Sample Mean (°C) 29.27 30.12
Variance 1.25 3.00
Degrees of Freedom 38
t-Value -1.83
p-Value 0.07

Using a two-tailed t-test and a significance level of 0.05, the DHT22 temperature sensor used in each of the four conditions
was found to be accurate enough to determine the temperature of the environment.

 Humidity Accuracy Assessment

Table 3 T-test Table for Humidity Paired two Sample for Means
Parameter DHT22 Humidity Galaxy Sensor Application Humidity
Sample Mean (%) 75.02 50.39
Variance 8.67 6.16
Observation 20 20
Degrees of Freedom 38
t-Value 28.06
p-Value <0.001

Using a two-tailed t-test and a significance level of 0.05, theDHT22 humidity sensor used in each of the four conditions was
found to be inaccurate enough to determine the humidity of the environment.

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 Gas Sensor Concentration Assessment

Table 4 Pairwise Comparison Table: Turkey HSD Test

Condition Pair Difference in Means TukeyHSD p-value Significant?
Well-ventilated room 3.20 0.763 No
vs. Hallway
Well-ventilated room vs. Outdoor: Rough -32.40 0.001 Yes
Well-ventilated room vs. Outdoor: Sloped -25.40 0.001 Yes
Hallway vs. Outdoor: Rough -35.60 0.001 Yes
Hallway vs. Outdoor: Sloped -28.60 0.001 Yes
Outdoor: Rough vs. Outdoor: Sloped 7.00 0.558 No

The post hoc test results with the Tukey HSD test indicate that the conditions presented significantly affect gas concentration
reading in PPM.

 Mobility Test

Table 5 One-sample Proportion Test Table

Conditions Pass rate Z-statistic
Stairs 25 -2.23
Slope 100 4.47
Unstructured Ground 100 4.47

Using a one-sample proportion test, the 100% pass rate for slope and unstructured ground indicates that the search and rescue
robot is capable of navigating slopes and unstructured ground, while the 25% pass rate for stairs suggests that the robot struggles
in navigating stairs or other elevated areas.

 Response Time vs. Distance

Table 6 Linear Regression Results

Di stance (m) Response Time (seconds)
Trial 1 Trial 2 Trial 3 Mean
5 0.11 0.15 0.23 0.16
10 0.43 0.55 0.55 0.51
… … … … …
50 3.56 3.00 3.98 3.51

Table 6 shows that in an obstructed condition, there is a delay between the control and the robot that increases as the
distance between them increases. It was also examined using linear regression analysis as shown in Figure 11. This is also the
same for the BLE dispenser response time in an obstructed condition.

 GPS Reception Accuracy

Table 7 Coordinates Between GPS Module and Mobile Phone GPS for Indoor Condition
MobilePhone Latitude GPS Module Latitude MobilePhone Longitude GPS Module Longitude
14.636235 NA 121.027593 NA
… … … …
14.636235 NA 121.027593 NA

Since the GPS module failed to receive signals indoors, it is concluded that the NEO6M V2 GPS module has low reception
strength in indoor usage.

Table 8 T-test table for Coordinates

MobilePhone Latitude GPS Module Latitude MobilePhone Longitude GPS Module Longitude
Sample Size (n) 5 5 5 5
Mean 14.63 14.63 121.02 121.02
Longitude 5614 5606 5920 59054
t-value 1.00 - 0.81 -
Degreesof Freedom 8 - 8 -
p-value 0.35 - 0.44 -

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Volume 8, Issue 6, June – 2023 International Journal of Innovative Science and Research Technology
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Showed that the sensor accurately reads gas concentration in different conditions. The robot successfully navigated
through Paired Two Sample for Means the different conditions. The prototype showed an excellent 100% pass rate on slopes
and unstructured ground and an unsatisfactory 25% pass rate on elevated areas. The inclination of the slopes ranged from 7-9
degrees, 19 degrees, and 23 degrees. At the same time, the successful navigation of the robot in an elevated platform has a height
of 2.5cm and 6cm, where the material of the platform also affects its success rate.

The communication between the robot and the control system was also reliable. The response time is proportional to the
distance since the computed R squared is 93.1% and fits the line trend. Hence, the significant relationship between response
time and distance can delay the command of the prototype. Furthermore, the response time on dispensing the At a 5%
significance level, it was determined that no significant difference between the actual coordinates values and the coordinates
values from the GPS module exists. t indicates that the GPS module accurately gathers data compared to the Mobile Phone GPS in
an outdoor setting.

 RSS vs Distance of BLE Transmitter from Receiver to Analyze Path-loss (dBm)

Table 9 Results of Measurement of RSS vs Distance of BLE Transmitter from Receiver

Distance (m) RSS in dBm Mean
Sample 1 Sample 2 Sample 3
1 -59 -60 -61 -60.00
2 -65 -67 -62 -64.67
… … … … …
9 -87 -87 -85 -86.33
10 -88 -90 -91 -89.67

With a minimum -70dBm acceptable RSS level for BLE devices, the BLE beacons provided a reliable indoor relative
positioning system.

V. CONCLUSION beacons, results showed that the BLE is an effective tool for
indoor relative positioning.
After conducting several tests under different
conditions, the result shows that the human-controlled search ACKNOWLEDGEMENT
and rescue robot used for victim localization has been able
to accommodate the possible needs of the rescuers in terms The researchers would like to thank Engr. Charles G.
of localizing the victims after an earthquake. The human- Juarizo, Engr. Fernando Victor V. De Vera, Engr. Thaddeo
controlled ground robot for disaster search and rescue S. Garcia, Engr. Eufemia A. Garcia, and Prof. Mark
operations utilized an ESP32 camera to detect victims with Christopher R. Blanco for the opportunity, guidance, and
100% accuracy. Using descriptive statistics, by collecting inspiration provided during this research. They also express
the pass rates for each condition, researchers determined the gratitude to their parents for their love, care, prayers, and
proficiency and effectiveness of the prototype. Subjectively, sacrifices in education. Lastly, researchers acknowledge
users must ensure careful analysis of the provided live God for strength, knowledge, and blessings throughout the
feedback to consider the accurate detection of victims successful completion of the research.
since the prototype will only guide the user in localizing the
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