Integration of Key Building Blocks for Search and Rescue Robots (Serabot)

This paper aims to show techniques of integrating sub systems for search and rescue
robot. Search and rescue robots requires interaction of several sub systems to
accomplish its designated task. Sub systems used are inexpensive and energy efficient
devices including raspberry pi 3, Arduino Mega, ultrasonic sensors, line sensors, motor
drivers and 4 brush motors. The use of these sub systems provides a reliable and robust
implementation of a robotic system. Raspberry Pi process instructions from the user
by python programing. Meanwhile Arduino Mega uses standard c program to process
instruction form the user. Raspberry pi serves as a backbone for image processing. The
use of ultrasonic sensors is to detect obstacle and use of line sensor is to keep the robot
inside the test field. Arduino acts as a central processing unit which process all the
input from various sensors and raspberry pi to activate the actuators to enable robot
movement and achieve task based on user’s instructions.