Paper Title
Research on the Disaster-Exploration Unmanned Vehicle System based on the Multi-Sensors

Abstract
The purpose of this research is to construct a disaster-exploration unmanned vehicle (UV) system based on multi-sensors. This UV system is integrated with the exploration unmanned ground vehicle (UGV), the injury ambulance UGV, and the unmanned aerial vehicle (UAV). Firstly, according to the task demands, three vehicles are all set up with the sensor module, core control module, motor drive module, and the remote control module. In addition, not only can the sensor module be applied to return back the situation of the disaster area, but it also collected the dynamic information of the vehicles to help to establish the accurate math models that will facilitate the subsequent designs of the stable controllers. Besides, additionally, we also set up the first aid box and the gesture control armband with the injury ambulance UGV. When the exploration UGV and the UAV send back the information of the injury location and the disaster area, the injured ambulance UGV will go to the injured location. If the injury person is conscious, then he can use the first aid box to carry out the simple treatment to avoid the injury worsening. If conditions permit, the injured person can also sit on the injury ambulance UGV and uses the gesture control armband to connect the core control module of the injury ambulance UGV. Then he can use some simple gestures to remotely control the injury ambulance UGV himself to return back to the hospital. Finally, in accordance with the different task characteristics, we design the adaptive controller and another various controllers to reduce noise and improve the robustness of the UV system. So that these designs yield the UGVs not only with the foundational functions of traction, navigation and obstacle avoidance, but also retain the considerable stability of the entire travel in the fact of unknown environment and unexpected disturbances. Even when encountering the sudden situations which require emergent obstacle avoidance, the UGVs can also taking into account the stability of smooth turn. These characteristics not only can reduce the vehicle vibrations to extend the components lives but also can help to extend the UV application in the areas of human factors engineering, such as the large-scale self-propelled public transportation could be developed.These stable controller techniques can effectively improve the comfort and stability of the carrying personnel or the precision material. Therefore, this study is really a practical and worthwhile research topic. Keywords - Disaster exploration, Unmanned vehicle, Unmanned ground vehicle