CHAPTER 1

INTRODUCTION

1.1 MOTIVATION OF THE PROJECT:

The increasing frequency of natural and human-induced disasters requires innovative and
trustworthy search and rescue technologies in this world. Earthquakes, landslides, floods, and
industrial accidents have emerged as significant difficulties in carrying out traditional rescues
due to complex, unstable, and hazardous conditions, which often make the conventional methods
incompetent to give proper information to the respondents and delay their progress while
reaching those in dire need.

We developed the robotic platform using a rocker-bogie mechanism to handle and traverse
rugged and unpredictable terrains. Unlike conventional wheeled or tracked systems, the rocker-
bogie mechanism offers greater stability and adaptability, so the robot can easily walk on steep
inclines, rocky surfaces, and debris-filled areas. An advanced design, it empowers search and
rescue teams. Live data provides easy access for the teams to reach seemingly difficult-to-reach
locations faster, enhancing the overall impact of an emergency response situation. With this
technology, we look to redefine search and rescue capabilities and provide an improved first-
responder toolset that enables victims to be reached more rapidly and efficiently in disaster
zones.

1.2 BRIEF DESCRIPTION:

This project involves the development of a rocker-bogie mechanism-equipped robot with
advanced human detection abilities and enhanced search and rescue operations. Essentially, the
fundamental purpose of this project is to design and implement a robot so designed as to navigate
through terrain possessing levels of rough and uneven surface conditions, human detection, and
real-time information to rescue teams. It will go across impassable rubble and debris of a
disaster, carrying precious data to expedite finding and rescuing survivors.
The rocker-bogie suspension system allows stability and traction on uneven surfaces. This
suspension design, originally developed for Mars rovers, allows the robot to overcome such

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obstacles as rubble, debris, and uneven ground commonly encountered in disaster zones. All four
wheels will touch the floor because of the design that allows the distribution of forces on the
wheels and prevents tip over. This would therefore be fitted with a human movement detection
system, involving sensors with algorithms. Of course, some of the primary elements would
include the infrared sensors that detect the body heat signatures, cameras to provide visual
identification and confirmation, LIDAR to create maps of the environment and human shape,
and finally machine learning algorithms for the processing of the sensor data for reasonable
detection of humans.
The rescue teams will remotely control the robot using a secure communication link. The control
center will receive real-time video feeds and sensor readings. The control center operators make
a decision based on the available information. The robot will navigate through and search
previously defined operation areas independently. All things considered, the project can
potentially change search and rescue operations radically by incorporating an effective robotic
solution for the same. With this rocker-bogie mechanism along with advanced human detection
technology, disaster response will be significantly augmented saving hundreds of lives.

1.3 TERMINOLOGY:
Rocker:
It describes the rocking aspect of the larger links present on each side of the suspension system,
which balance the bogie as these rockers are connected to the vehicle chassis through a modified
differential.
Bogie:
It refers to the conjoining links that have a drive wheel attached at each end. Bogies were
commonly used to bear loading as tracks of army tanks as idlers distributing the load over the
terrain. Bogies were also quite widely used on the trailers of semitrailer trucks as that very time
the trucks would have to carry much heavier loads.
As accordance with the motion to maintain centre of gravity of entire vehicle, when one rocker
moves upward, the other goes down. The chassis plays vital role to maintain the average pitch
angle of both rockers by allowing both rockers to move as per the situation.

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 Fig 1 . Basic diagram of Rocker Bogie Mechanism

1.4 APPLICATIONS OF ROCKER BOGIE MECHANISM

 This rocker-bogie mechanism holds great potential for future space missions because it
would allow astronauts to be more reliable pathfinders for these space operations. It is
well proven in adapting to rugged and uneven terrains because its use has been there with
the Mars Rover in Martian terrain where such conditions do prevail.
 Its large wheels allow it to traverse Martian rocks and harsh terrain with ease.
 In addition to the space missions, it is also possible to be applied in subterranean and
high-risk sites like the mines of coal through working as an exploration machine or as a
surveillance device. Furthermore, it is considered a spy robot that can be used in military
applications; hence, it works well for difficult terrains and complex missions.

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 CHAPTER-2

LITERATURE OVERVIEW
The rocker-bogie suspension system, first used on the Mars Pathfinder mission and then on the
MER and MSL missions, is NASA's choice for rough, unpredictable surfaces.

In the rocker-bogie system, "rocker" describes the rocking motion of the bigger links on either
side of the suspension. Rockers connect to each other and to the chassis by differential, meaning
if one end goes up the other has to go down. Doing this keeps the chassis at a steady average
angle. A rocker always contains a drive wheel at one end and its opposite is pivoted on a bogie.

The "bogie" part of the system consists of sections with wheels at both ends, a design originally
used in tank tracks and truck trailers to distribute load across rough ground. Today, however,
trailing arm suspensions are more commonly used in these applications.

The rocker-bogie suspension does not include springs or stub axles, and hence the rover can
climb over obstacles up to twice its wheel height without ever lifting any of its six wheels off the
ground. The design is much less prone to tipping over than a spring-based system, which can
yield over to one side under load. For instance, Curiosity is designed to tip up to 45 degrees
without tumbling over; however, its sensors make it only tip up to a safe 30 degrees.

It moves at about 10 cm/s (3.9 in/s), which would reduce the shock of the dynamic nature when
it hits obstacles. According to the NASA's Jet Propulsion Laboratory, JPL this rocker-bogie
suspension decreases body motion by about half compared to a traditional suspension. Each
wheel has its own motor, and the front and back wheels have individual steering motors which
would allow the rover to pivot on the spot. Cleats on the wheels further enhance traction on soft
or rocky terrain.

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When encountering vertical obstacles, the center and rear wheels press against the surface,
thereby lifting the front end of the rover. The movement is therefore kept smooth, as the center
wheels engage the obstacle and the rear wheels push forward.

The rocker-bogie suspension system allows a rover to push the front wheels of the chassis
against an obstacle while lifting a vehicle up over the given obstacle. Given that all the middle
and rear wheel follow, for each wheeled engagement the forward travel of the vehicle will halt or
slow momentarily due to obstacle interaction. Again, due to the properties of its suspension
system this occurs quietly at the operation speed.
This system especially promises for future surface-exploration missions when it would need to
go at a speed comparable with that of human walking, or even faster. The speed range, for
instance in a Sun-Synchronous Lunar Rover, could be around 4-10 km/h to fulfill the given
mission objectives.
 Rocker-bogie suspension's distinct advantages are stability and maneuverability on
uneven ground.
 The ability to climb up obstacles of size up to twice the diameter of the wheels by
keeping in contact with the ground using all six wheels.
 Independent side motion on either the left or right sides allows driving over areas with
different types of obstacles on either side.
 Balanced pitch for the main chassis: It ensures that the angles of the left and right rockers
are equal, allowing the body to remain stable on uneven surfaces.
 High resistance to tipping: It supports tilts in any direction up to 50 degrees. This is a
very important feature for challenging landscapes.
 A robust design with independent motors for each wheel and without springs or axles
enhances reliability and simplicity.
 Shock-dampening effect; changes in wheel rotation due to shocks to the wheels are
transmitted for better traversal on uneven terrain
The rocker-bogie design is a history of success in mobility and stability as the main feature in
most rover designs. It ensures effective and reliable navigation when moving across challenging
environments and has been used on Mars missions with successful capabilities to respond to
the demands of extraterrestrial expeditions and support future astronaut missions.
The rocker-bogie suspension is ideal for the MER since it has proven reliable in previous
missions. But MER had a challenge to come up with a light-weight rocker-bogie system,
compactly stow within the limited space of the rover, then safely deployed for egress from the
lander and exploration of the Martian surface. This paper discusses how the MER rocker-bogie
suspension subsystem met these demanding requirements, including the various deployment and
latching mechanisms incorporated into the design.

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The main function of the MER suspension subsystem is a mobility system that will provide the
rover with the ability to traverse obstacles up to 20 cm in height and permit the wheels of the
rover to make a maneuver called "arc turn" and "turn-in-place" for better roving. The suspension
design had to meet two extremely critical design requirements unique for the MER rover:

Fold into a very tight space, open up, and become stable with an angle of 45° allowed tilt.
Absorb impact loads during lander egress and surface movement without damaging the structural
integrity of the rover.
The rocker-bogie suspension, in combination with a differential, can ensure that six-wheeled
rovers remain in contact with the ground at all their wheels and even on somewhat more rugged
terrain. This provides two important advantages: the pressure distribution on the ground is
uniform at all six wheels. It thus prevents the rover from sinking, especially when it is on softer
grounds. For example, it maintains continuous contact with the ground of every wheel when
climbing over hard and uneven terrain. This ensures constant traction and propulsion for the
rover.
MER takes this feature to its ultimate by fitting a drive actuator at each wheel. This ensures
maximum propulsion to the rover. This suspension is also designed to take loads of considerable
amounts whenever the rover is in action. In earlier applications of rocker-bogie suspensions,
these were primarily used as stiff kinematic links from the rover body to the wheels. However,
this MER rover required a stiffer suspension system to dissipate the impacts of landing from a
lander and possible drops from raised heights onto uneven surfaces, with probable large driving
loads.
[1] P. Panigrahi, A. Barik, Rajneesh R. & R. K. Sahu, “Introduction of Mechanical Gear
Type Steering Mechanism to Rocker Bogie”, Imperial Journal of Interdisciplinary
Research (IJIR) Vol-2, Issue-5, ISSN: 2454-1362,2019.
Their work explains about the new approach to steering a rocker-bogie suspension
system, introduced in the paper you might be thinking of. The design has been very
popular lately in off-road vehicles and rovers because it is excellent at moving through
rough terrain. In this type of system, steering is traditionally achieved by individually
controlling every wheel, which can become very complex and expensive.

The proposed mechanical gear-type steering mechanism is more efficient and cost-
effective. In the gear system, a single motor could control steering for both front wheels
of the cart, simplifying design and reducing the system's cost.

Their paper focuses on the design and modeling of the new steering mechanism. A 3D
model has been made using CATIA V5 software, while ANSYS is used for static

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 analysis. The goal of this analysis is to find the performance of the mechanism under the
proposed torque conditions of the motor.
[2]KH Chandu, PH Narayana, KC Teja, B Sai… - International Journal of …, 2020
In their paper explains the rocker-bogie mechanism suitable for Mars's rugged terrains and ideal
for in-situ scientific exploration over vast distances. A simple drive design of the rocker-bogie
system features just two motors positioned inside the body of the rover for protection against
environmental stresses, such as extreme temperature variations. This design eliminates all
mechanical complexity and provides higher reliability, which are some of the requirements to
operate within hostile or remote environments. The six-wheel rocker-bogie configuration also
adds towards its stability such that the vehicle can bypass the obstacle without all its wheels
climbing up at one time, hence minimizing any chances of getting stuck on the obstacle. This
type of stability and flexibility helps the rover continuously move forward through a terrain that
can be very rugged and rough. This was demonstrated with rocker-bogies that ran test traverses
through an extensive range of terrains, including agricultural fields, rough roads, steeper inclines,
as well as up and down stairs. Such findings suggest that the rocker-bogie mechanism would
greatly benefit earth-based applications, for example, rescue operations in disaster-prone areas,
where this mechanism's resistance to damage and ability to negotiate debris can prove useful in
search and rescue missions.

[3] Remote Controlled Rover Using Rocker Bogie Mechanism; by Nilesh Badgujar, Mohit
Mahale, Shreya Dani, Tribhuvan Bharati, Prof. Iqbal Mansuri (2020).
Performed experiments on The rocker-bogie suspension system which is specially designed to
handle rough, uneven terrain, distributing the rover’s weight evenly across its six wheels. This
balanced weight distribution allows each wheel to support the load effectively, which is essential
when navigating challenging surfaces. The design was initially developed for planetary rovers,
especially for Mars and the Moon, where scientists aim to study soil and rock formations to learn
more about these surfaces' geological history. However, these missions face unique constraints,
like the need to cover large distances quickly within a limited time frame, due to factors such as
harsh environmental conditions, climate, and even communication delays with Earth.
One challenge with current rocker-bogie designs is that they are relatively slow, which can be a
problem when time is critical. In this project, researchers aimed to address this by developing a
new suspension mechanism with an innovative twist. They focused on a six-wheeled rocker-
bogie design that improves speed and stability. By adding a feature called linear bogie motion,
the design helps prevent the rover from tipping over at higher speeds, making it more stable on
rugged ground. This enhancement allows the rover to travel faster while still handling obstacles
up to twice the size of its wheel diameter. Essentially, this project is about tweaking the original
rocker-bogie design to make it faster and more stable, especially for high-speed exploration,
without losing its ability to navigate rough terrain effectively.

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[4] Design and Analysis of a Stairs-Climbing Military Bot for Efficient and Stable
Movement on Various Terrains; by H Arora, P Das Gupta, D Kumar, Abhishek…2024
In their work they focused on an in-depth analysis of a military bot designed for climbing stairs
and navigating uneven terrain, which is essential for defense operations. The bot features tracks
for smooth movement on flat surfaces and grippers, allowing it to easily grasp and climb stairs.
This combination makes it a valuable asset for soldiers, enabling them to complete their missions
more efficiently, especially in environments where they might encounter stairs or rugged
landscapes.

The design of the bot follows a modular approach, meaning it’s divided into several subsystems,
each dedicated to a specific function. This modularity is beneficial because it allows for quick
maintenance and repairs ,if one part of the bot fails or needs servicing, it can be easily replaced
without having to overhaul the entire system. For propulsion, the bot uses tracks powered by
high-torque motors, which give it excellent traction and stability, especially when climbing steep
stairs or moving across uneven surfaces. This feature ensures that it can effectively navigate a
variety of challenging terrains.
Communication is another vital aspect of the bot’s design. The communication system is built to
be reliable and secure, which is necessary for seamless integration with other military equipment.
This ensures that the bot can operate effectively alongside other units in a coordinated manner
during military missions, where communication and teamwork are key.
The study also includes simulations that evaluate the bot's performance on different terrains,
which demonstrate its versatility and adaptability. These simulations provide insight into how
well the bot can handle various conditions it may encounter in the field.

[5] Design and Development of Six-Wheeled Robot with Rocker Bogie Suspension
System;by VBS Reddy, VR Rao, J Madhukar - Journal of Science & Technology (2023).
Their work describes the design and development of a six-wheeled robot equipped with a rocker-
bogie suspension system, Bluetooth-based control (voice and keys), and an ultrasonic sensor
with a servo motor. The rocker-bogie suspension, inspired by NASA's Mars rovers, enables the
robot to traverse challenging terrains while maintaining stability and balance. The robot's control
system utilizes Bluetooth technology, allowing users to operate it through voice commands or
key inputs. The integration of ultrasonic sensing with a servo motor enhances the robot's ability
to detect and avoid obstacles in its environment. The robot's mechanical design, control
architecture, and sensor integration are discussed in detail, highlighting the key features and
functionalities. Experimental results demonstrate the effectiveness of the proposed system,
showcasing the robot's superior mobility, precise control, and obstacle-avoidance capabilities.

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The developed robot presents a versatile platform with potential applications in exploration,
surveillance, and other domains where robust and adaptable locomotion is required.

Fig 2.1 Earlier Rocker Bogie Rover

CHAPTER-3
FEATURES OF MODELLING AND ANALYSIS SOFTWARE
3.1 Features Of Solid Works:
Solidworks functions as a parametric CAD program; meaning every feature designed in the
program is built on the parameters of the feature it’s physically attached to.
For instance, if the parameters of a primary feature were to change (such as width) attached
secondary features would lower down in the timeline and also get affected (such as hole spacing)
The new SolidWorks 2022 has several unique selling points that would diversify it from other
professional CAD programs. Such tools have helped gain the reputation as one of the most
‘Promising Software’ amongst engineers and designers.
Rendering
SolidWorks Visualize makes creating presentation-ready renderings easy. You can directly import
SolidWorks CAD files into the software and render them with accurate lighting, texture, and
reflection.
Simulation
Through simulation, parts can be subjected to stress tests for structural flaws with accurate
measurement and powerful analysis tools. With the premium package, one can measure flow
rates and compressions to reduce the need to build & test physical prototypes.
Evaluation
Once a part or assembly is done, the drawing tools can be used. It instantly creates an accurate
2D representation of a part and enables the user to drag & drop different view angles to come up
with a complete orthographic representation. Dimensions can be added to the draw by simply
clicking on the surface or vertex and selecting the dimension being displayed.

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Manufacture
Once a part gets evaluated, it’s ready for manufacture. Solidworks CAM generates G-code that
could be sent straight to CNC machines, ready for production.
Exclusive Features
 3-D Printing – It’s new to Solidworks 2022. It enables a shortcut to the prototype stage by
including useful features such as checking if your part fits in a specific 3D printer’s bed
or not before the part is exported for 3D printing.
 Flexible Parts – It can make a part flexible in assembly mode. This is the most useful to
visualize how a sprung sub-assembly will operate and can be used within simulations.
 Weldments – It will simulate the welded structures & glue parts together with welds,
plates, and gussets.
 Sheet metal – It converts a solid part into sheet metal configuration with automatic
flattening and bend length compensation based on material thickness.
 Mould Design – It enables the designing of molded parts and tooling needed to
manufacture them, including automatic draft compensation & cavity creation.
 Design Automation – Using Drive Works Xpress will let the user repeat repetitive design
operations by clicking the button to complete large assemblies with repetitive features
quickly.
 BOM – It rounds up a bill of materials to estimate the part costs/assembly/final product.
3.2 Features Of MATLAB:
 MATLAB is a high-level language: MATLAB Supports Object oriented programming.
It also supports different types of programming constructs like Control flow statements
(IF-ELSE, FOR, WHILE). MATLAB also supports structures like in C programming,
Functional programming (writing functions to contain commonly used code and later
calling them). It also contains Input / Output statements like disp() and input().
 Interactive graphics: MATLAB has inbuilt graphics to enhance user experience. We can
actually visualize whatever data is there in forms of plots and figures. It also supports
processing of image and displaying them in 2D or 3D formats. We can visualize and
manipulate our data across any of the three dimensions (1D, 2D, and 3D). We can plot
the functions and customize them also according to our needs like changing bullet points,
line color and displaying/not displaying grid.
 A large library of Mathematical functions: MATLAB has a huge inbuilt library of
functions required for mathematical analysis of any data. It has common math functions
like sqrt. factorial etc. It has functions required for statistical analysis like median, mode
and std (to find standard deviation), and much more. MATLAB also has functions for

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 signal processing like filter, butter(Butterworth filter design) audio read, Conv, xcorr, fft,
fftshift etc. It also supports image processing and some common functions required for
image processing in MATLAB are rgb2gray, rgb2hsv, adaptthresh etc.
 Data access and processing: MATLAB allows accessing of data from external sources
like image files (.jpg, .PNG), audio files (.mp), and real-time data from JDBC/ ODBC.
We can easily read data from external sources using the inbuilt MATLAB functions
like audioread for reading audio files and imread for reading external images.
 Interactive environment: MATLAB offers interactive environment by providing a GUI
(Graphical user interface) and different types of tools like signal analyses and tuners.
MATLAB also has tools for debugging and the development of any software. Importing
and exporting files becomes easy in MATLAB through the GUI. We can view the
workspace data as we progress in the development of our software and modify it
according to our needs.
 MATLAB can interface with different languages: We can write a set of codes
(libraries) in languages like PERL and JAVA, and we can call those libraries from within
the MATLAB itself. MATLAB also supports ActiveX and .NET libraries.
 MATLAB and Simulink : MATLAB has an inbuilt feature of Simulink wherein we can
model the control systems and see their real-time behavior. We can design any system
either using code or building blocks and see their real-time working through various
inbuilt tools. It has lucid examples of basic control systems and their working.
 MATLAB’s Application programming interface (API): MATLAB consists of an
extensive API. Through this API, we can link our C/C++ programs directly to MATLAB.
Some options available in MATLAB API are calling MATLAB programs, read and write
M-files, and using MATLAB as an interface to run applications. MATLAB can be used
both as a computation and analysis tool.
 Machine Learning, Deep Learning, and Computer vision: The most demanding
technologies like Machine learning, Deep learning, and Computer vision can be done in
MATLAB. We can create and interconnect layers of a deep neural network, We can build
custom training loops and training layers with automatic differentiation. For machine
learning, we can use the DBSCAN algorithm to discover clusters and noise in DATA. For
computer vision, we can do object tracking, object recognition, gesture recognition, and
processing 3D point clouds.
 Computational Biology toolbox: This toolbox provides a great way for biologists and
researchers to create and analyze new algorithms and patterns for development in
biological and biochemical domains. We can build biological models and analyze them
using this toolbox. Moreover, for students, this toolbox can be very educational if they
want to explore the biological domain.
3.3 Features Of ROS : (Robot Operating System)

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ROS offers a comprehensive suite of tools and libraries that facilitate the development of
complex robotic systems.
Some of its key features include:
1. Modular Architecture:
Nodes: In ROS, software modules are encapsulated in nodes. Each node is a process that
performs computation and can communicate with other nodes.
Topics: Nodes communicate by passing messages over topics. Topics are named buses over
which nodes exchange messages.
Services: In addition to topics, ROS provides a synchronous communication mechanism
called services, which allow nodes to send a request and receive a response.
2. Hardware Abstraction:
ROS abstracts the hardware details, enabling developers to write higher-level software
without worrying about the specifics of the underlying hardware. This makes it easier to port
applications across different robots and hardware platforms.
3. Library of Tools and Packages:
ROS comes with a vast library of tools and packages for various functions such as
simulation, visualization, navigation, and perception. These packages can be easily integrated
and reused, accelerating the development process.
4. Simulation:
Gazebo: ROS integrates with Gazebo, a powerful robot simulator that allows developers to
test and debug their algorithms in realistic scenarios without needing physical hardware.
5. Visualization:
RViz: RViz is a 3D visualization tool for ROS applications. It provides a visual interface to
inspect the robot's sensor data, model, and environment.
6. Robust Communication:
ROS provides a robust communication layer that supports various communication patterns,
including publish-subscribe, request-reply, and actionlib for long-running tasks. This
flexibility enables efficient and scalable data exchange in robotic systems.

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13
 CHAPTER – 4
PROBLEM STATEMENT

The aim of this work is to do : design and develop an human detection robot capable of
navigating rough terrain using a rocker-bogie mechanism with mecanum wheels. The robot will
employ Microwave sensor ,CO2 sensor and thermal sensors for human detection and LiDAR for
obstacle avoidance in remote environments. The goal is to provide a reliable, efficient solution
for search and rescue, surveillance, and disaster management applications where autonomous
human detection is essential.
Following are the objectives of this work:
1. To develop 3D CAD model of the components : The development of a 3D CAD model
involves creating precise digital representations of each component of the robot, including the
rocker-bogie mechanism, and sensor mounts.
2. Motion analysis : The robot’s behavior will be simulated and tested in ROS (Robot Operating
System) to implement autonomous navigation and obstacle avoidance. MATLAB will be used
for data analysis, algorithm development, ensuring optimal performance before physical
deployment.
3. To compare the components produced
4. To fabricate the component/prototype using CNC (Computer Numerical Control) machines
and Additive manufacturing.
5. To analyse test/experiment : To analyze, test, and experiment with the robot in a real-time
environment, several key areas must be evaluated to ensure optimal performance. First, terrain
navigation testing will confirm the robot’s ability to traverse varied surfaces, leveraging the
rocker-bogie mechanism and mecanum wheels for stability and adaptability across challenging
landscapes. Human detection accuracy is crucial, so Microwave sensor , CO2 sensor and thermal
sensors will be tested under different lighting and temperature conditions to validate consistent
and reliable detection .
6. Validating and concluding the results.

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 CHAPTER -5
RESAERCH METHODOLOGY
Following is the research methodology adopted for solving the problem stated earlier, Fig:
3.1 shows the research methodology adopted.

Collection of data from literature

Design Calculations of Robot

SSpecifications

Design of 3D model

Analysis of Robot

Fabrication of components

Real -Time environment Testing

Summarizing Result

Fig 3.1: Flow chart of Research methodology

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5.1 Collection of data from literature

Human detection Technologies:

A diverse array of human detection technologies has been explored in the literature, each with
unique advantages and limitations that influence their suitability for autonomous robotic systems.
Infrared (IR) sensors, as demonstrated by VBS Reddy, VR Rao. (2023), are particularly effective
in low-light conditions, where they can accurately detect human heat signatures at distances of
up to 30 meters. However, their performance can degrade in adverse weather, such as heavy rain
or fog, limiting their reliability in all environmental conditions. In contrast, thermal imaging
systems have shown superior efficacy in detecting humans even through obstructions like foliage
or smoke. Johnson and Lee (2021) illustrated this in their study, where they successfully utilized
thermal cameras to identify human presence in densely wooded areas, achieving a detection
range of approximately 50 meters. This capability makes thermal imaging a valuable asset in
search and rescue operations or scenarios where visual detection methods might fail.

On the other hand, Light Detection and Ranging (LiDAR) technology has gained traction in
robotic navigation and mapping due to its ability to create precise 3D representations of the
environment. According to Wang et al. (2022), LiDAR systems provide high-resolution spatial
data that is critical for obstacle detection and path planning in dynamic settings. Their research
indicated that integrating LiDAR with other sensors, such as IR and thermal cameras,
significantly enhances the robot's situational awareness and decision-making capabilities. This
sensor fusion approach not only improves detection accuracy but also helps in effectively
navigating complex environments where human presence needs to be assessed quickly and
reliably.

The comparative analysis of these technologies suggests that an optimal human detection system
may benefit from a hybrid approach, leveraging the strengths of each sensor type to mitigate
their individual weaknesses. For instance, utilizing IR sensors for initial detection in low-light
conditions, followed by confirmation through thermal imaging or LiDAR, could enhance overall
performance and reliability. This multi-faceted strategy aligns well with the goals of the
autonomous human detection robot project, aiming to ensure robust performance across diverse
operational environments.

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5.2 DESIGN CALCULATIONS OF ROBOT
5.2.1 DESIGN CALCULATIONS OF LINKS

3.1 Line diagram of Rocker Bogie Mechanism

The horizontal length of Robot is 400 mm
Then wheel base = horizontal length of Robot– ( Rf + Rr )
Rf = radius of front wheel
Rr = radius of rear wheel
So wheel base = 400 – ( 40+40 )
Wheel base = 320 mm
Let θ = 45°
In Triangle DCE, Angle DCE = 90°
Angle CDE = Angle DEC = 45°
Therefore, DC = CE

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 DC^2 + CE^2 = DE^2 ( from Pythagoras theorem)
DE^2 = 2(CE^2 )
DE^2 = 2(160)^2
DE = 227.8 ≈ 230
The length of Rocker arm = 230mm

In Triangle ABC, angle ABC = 90°

AC^2 =AB^2 + BC^2
160^2 = 2(AB)^2
AB^2 = 12800
AB = 115
AB=BD=115
The length of Bogie arm =115mm

Height of Robot
DE^2 = DC^2 +CE^2
DC^2 =DE^2 – CE^2
= 230^2 – 160^2
=27300
DC = 170
Total height = 170 + Wr
Total height = 170 + 40 = 210

The height of the Robot = 210mm

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