Preliminary design of a multirotor UAV for indoor search and rescue applications

Abstract

Multirotor UAVs have become an essential tool in a wider range of applications, including among others disaster management, and search and rescue (SAR) operations. Typically, these systems operate outdoors, with their guidance and positioning being based primarily on GPS. This work is focused on the design and optimization of a multirotor UAV specifically tailored for indoor SAR applications, where GPS signal is unavailable, and obstacles are prevalent. The design incorporates a lightweight frame structure, in order to increase the UAV's payload capability. This is necessary, since the UAV requires multiple obstacle recognition and avoidance sensors, as well as thermal and optical cameras, to successfully accomplish its mission objectives in a GPS-denied environment. Towards this goal, various trade studies were conducted including different motor/propeller configurations and airframe FEM analyses. The aerodynamic performance of the UAV is evaluated also, using dedicated CFD analyses that incorporate the effect of propellers. Lastly, a prototype of the designed configuration is produced using additive manufacturing methods and initial flight tests of the UAV are performed.