Search and Rescue (SAR) Flight Simulations Utilizing Low-Budget Autonomous Quadcopter and Image Processing Technology

In Search and Rescue operations, designated search areas are explored by aircraft and helicopters. Upon target identification, the aerial platform proceeds with the landing and rescue procedure. This research employs a quadcopter to replicate SAR flight scenarios. The quadcopter’s autonomous operation encompasses takeoff and navigation between waypoints as dictated by the Mission Planner software. En route to the second waypoint, a camera-based image processing system scans the ground. Detection of a ground marker activates the Raspberry Pi program, instructing the flight controller to ensure precise landing directly over the recognized marker. In cases where the quadcopter reaches the second waypoint but the system fails to identify a ground marker, the programmed response involves the quadcopter autonomously returning to the initial waypoint, where it executes a self-guided landing at its takeoff location. A captivating aspect of this investigation concerns the efficacy of a cost-effective 5 Megapixel camera, with a $1280\times 720$-pixel frame, in accurately identifying landing markers. The study’s parameters encompass marker diameter, flight altitude, and quadcopter speed. Outcomes demonstrate successful marker detection at flight altitudes up to 3 meters above ground, achieving a top speed of 3 m/s at a 2-meter height. The smallest identifiable marker diameter remains at 40 cm.