The present disclosure relates to ocean robotics. In more details, a hybrid autonomous underwater vehicle system for fast response during floods for flood relief operations.
BACKGROUND OF THE INVENTION
Autonomous underwater vehicles (AUV) travel underwater without any input from the operator/pilot. Once deployed, they find their path with the help of different sensors programmed in them. Sensors such as ultrasonic sensors, depth sensors, pressure sensors, Vision and depth Camera, SONAR, etc., provide efficient control over the vehicle. However, most essential devices for the effective working of an AUV are the eye of the vehicle that is the camera and the thrusters.
Autonomous underwater vehicles are well suited for applications such as ocean survey, messenger, flexible payload carrier, etc. AUVs can be used in other underwater applications as well. Since AUVs are good and flexible payload carriers they can also be used by flood relief teams to help people affected by the floods. Unmanned aerial vehicles were used till now to send help such as medicines and food to the affected areas. But the problem with UAVs is that they are not flexible payload carriers, and for carrying a heavy payload, their size has to be significant because of which it will be difficult to send them inside a flood-affected house. An AUV can easily achieve this task, but the post-flood conditions are unpredictable.
In the view of the forgoing discussion, it is clearly portrayed that there is a need to have a hybrid autonomous underwater vehicle system for flood relief operations.
SUMMARY OF THE INVENTION
The present disclosure seeks to provide a hybrid autonomous underwater vehicle system for flood relief operations and predefined tasks allows operator on the ground to take full control at any time of its operation remotely.

In an embodiment, a hybrid autonomous underwater vehicle system for flood relief operations is disclosed. The system includes a vehicle body having at least one low vision camera mounted inside a front module of the vehicle body to capture high-resolution images in low visibility flood water and a 360-degree camera/Omni-direction camera mounted on top cover of a pressure hull to avoid obstacles. The system further includes a plurality of sensors coupled to a controller module for sensing depth, speed, obstacles, and leakage inside the pressure hull. The system further includes a controller unit engaged with the controller module positioned inside the pressure hull is programmed with a robot operating system (ROS) to open several channels on which multiple devices of the vehicle are subscribed to publish and receive data from one unit to another. The system further includes a power module placed inside the pressure hull comprising a battery management system to check and control status of batteries within their specified safe operating conditions. The system further includes a retractable antenna mounted on top of the pressure hull for establishing a connection to an unmanned aerial vehicle (UAV). The system further includes a GPS module placed inside the controller module comprises receivers with the antenna that employs a satellite-based navigation system with a network of satellites in orbit around the earth to provide position, velocity, and timing information. The system further includes at least four thrusters rotatable on its base configured to propel the vehicle body in multiple direction with six degrees of freedom (DOF).
In another embodiment, front module is comprised of payload compartment which is a detachable compartment that carries medicines and necessary supplies.
In another embodiment, the battery management system configured with temperature and current sensing sensors to check and control status of batteries, wherein the battery is disconnected from an output power in case the temperature exceeds the battery's manufacturer specified operating temperature.
In another embodiment, the antenna is retracted to its full length whenever the vehicle body is stuck somewhere or when an operator wants to take full control of the vehicle body for any critical operation.
In another embodiment, the omnidirectional camera mounted on a retractable base

at least a full circle in a horizontal plane of the body and promotes large visual field coverage, thus helping in identifying affected people(s), wherein the omnidirectional camera helps the vehicle body to overcome floating obstacles or obstacles that are only visible from top.
In another embodiment, the plurality of sensors are a pressure sensor for sensing depth and speed, a SONAR for sensing obstacles, a leakage sensor to detect the leakage if any inside the pressure hull.
In another embodiment, the vehicle body is coupled with a pressure sensor in the front & a 360 Pinger SONAR, wherein an IR feed from the front camera is fused with the SONAR system mounted inside the pressure hull to safeguard the vehicle body thereby preventing from hitting any obstruction in its path if any, especially in cases where there is extreme turbidity, thus hampering the vision system.
In another embodiment, a doppler velocity log (DVL) is placed inside the pressure hull in between the pay load compartment and controller module for estimating velocity of the vehicle body relative to the surface wherein the DVL is pointing three acoustic beams in three different directions according to DVL frame of reference for estimating velocity of the vehicle body relative to the surface.
In another embodiment, the DVL allows to navigate through the obstacles it encounters in the flood water and keep track of a path followed by the vehicle body from a place/location of its deployment to an affected place/location where help is needed thereby allows the vehicle body to return to its source location using the path, once it delivers the payload and marked coordinates of location using the GPS module.
In another embodiment, the four thrusters are engaged with the vehicle body which is driven by brushless dc motors (BLDC), thus giving it a total maximum thrust of 24kgf
An object of the present disclosure is to provide real time support to help people affected by the floods and other dangerous situation.
Another object of the present disclosure is to send help such as medicines and food to

Yet another object of the present invention is to deliver an expeditious and cost-effective hybrid autonomous underwater vehicle system for flood relief operations.
To further clarify advantages and features of the present disclosure, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.
BRIEF DESCRIPTION OF FIGURES
These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:
Figure 1 illustrates a block diagram of a hybrid autonomous underwater vehicle system for flood relief operations in accordance with an embodiment of the present disclosure;
Figure 2 illustrates an isometric view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure;
Figure 3 illustrates a rear view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure;
Figure 4 illustrates a side view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure;
Figure 5 illustrates a top view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure;
Figure 6 illustrates an isometric view of a hybrid autonomous underwater vehicle system with fully retracted payload compartment in accordance with an embodiment of the present disclosure;

Figure 7 illustrates a top and side view of a hybrid autonomous underwater vehicle system with fully retracted payload compartment in accordance with an embodiment of the present disclosure; and
Figure 8 illustrates a sectional view of a hybrid autonomous underwater vehicle system with the controller and power module in accordance with an embodiment of the present disclosure.
Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present disclosure. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.
DETAILED DESCRIPTION:
For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates.
It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not intended to be restrictive thereof.
Reference throughout this specification to "an aspect", "another aspect" or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus,

appearances of the phrase "in an embodiment", "in another embodiment" and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such process or method. Similarly, one or more devices or sub-systems or elements or structures or components proceeded by "comprises...a" does not, without more constraints, preclude the existence of other devices or other sub-systems or other elements or other structures or other components or additional devices or additional sub-systems or additional elements or additional structures or additional components.
Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting.
Embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings.
Referring to Figure 1, a block diagram of a hybrid autonomous underwater vehicle system for flood relief operations is illustrated in accordance with an embodiment of the present disclosure. The system 100 provides a hybrid autonomous underwater vehicle (HAUV) for the first response during floods. The system 100 includes a vehicle body 102 having at least one low vision camera 104 mounted inside a front module 106 of the vehicle body 102 to capture high-resolution images in low visibility flood water and a 360-degree camera/Omni-direction camera 108 mounted on top cover of a pressure hull 110 to avoid obstacles. The front module 106 is a front cabinet engaged to couple the camera
In another embodiment, a plurality of sensors 114 are coupled to a controller module for sensing depth, speed, obstacles, and leakage inside the pressure hull 110. The vehicle body 102 is coupled with a pressure sensor in the front & a 360 Pinger SONAR, wherein an IR feed from the front camera is fused with the SONAR system mounted inside the pressure

hull 110 to safeguard the vehicle body 102 thereby preventing from hitting any obstruction in its path if any, especially in cases where there is extreme turbidity, thus hampering the vision system.
In another embodiment, a controller unit 112 is engaged with the controller module positioned inside the pressure hull 110 is programmed with a robot operating system (ROS) to open several channels on which multiple devices of the vehicle are subscribed to publish and receive data from one unit to another. The controller module is a middle cabinet which is isolated and thereby protects the controller unit 112 and internal circuit from the water and moisture.
In another embodiment, a power module 116 is placed inside the pressure hull 110 comprising a battery management system to check and control status of batteries within their specified safe operating conditions.
In another embodiment, a retractable antenna 118 is mounted on top of the pressure hull 110 for establishing a connection to an unmanned aerial vehicle (UAV).
In another embodiment, a GPS module 120 is placed inside the controller module comprises receivers with the antenna 118 that employs a satellite-based navigation system with a network of satellites in orbit around the earth to provide position, velocity, and timing information.
In another embodiment, at least four thrusters 122 rotatable on its base are configured to propel the vehicle body 102 in multiple direction with six degrees of freedom (DOF).
In another embodiment, front module 106 is comprised of payload compartment which is a detachable compartment that carries medicines and necessary supplies.
In another embodiment, the battery management system configured with temperature and current sensing sensors to check and control status of batteries, wherein the battery is disconnected from an output power in case the temperature exceeds the battery's manufacturer specified operating temperature.

In another embodiment, the antenna 118 is retracted to its full length whenever the vehicle body 102 is stuck somewhere or when an operator wants to take full control of the vehicle body 102 for any critical operation.
In another embodiment, the omnidirectional camera mounted on a retractable base and positioned on the top cover to get field of view that covers approximately entire sphere or at least a full circle in a horizontal plane of the body and promotes large visual field coverage, thus helping in identifying affected people(s), wherein the omnidirectional camera helps the vehicle body 102 to overcome floating obstacles or obstacles that are only visible from top.
In another embodiment, the plurality of sensors 114 are a pressure sensor for sensing depth and speed, a SONAR 124 for sensing obstacles, a leakage sensor to detect the leakage if any inside the pressure hull 110.
In another embodiment, a doppler velocity log (DVL) is placed inside the pressure hull 110 in between the payload compartment and controller module for estimating velocity of the vehicle body 102 relative to the surface wherein the DVL is pointing three acoustic beams in three different directions according to DVL frame of reference for estimating velocity of the vehicle body 102 relative to the surface.
In another embodiment, the DVL allows to navigate through the obstacles it encounters in the flood water and keep track of a path followed by the vehicle body 102 from a place/location of its deployment to an affected place/location where help is needed thereby allows the vehicle body 102 to return to its source location using the path, once it delivers the payload and marked coordinates of location using the GPS module 120.
In another embodiment, the four thrusters 122 are engaged with the vehicle body 102 which is driven by brushless dc motors (BLDC), thus giving it a total maximum thrust of 24kgf
Working of Invention:
The HAUV consists of four rotatable thrusters 122 mounted in cross-directional fashion. The four rotatable thrusters 122 provide the HAUV six degrees of freedom. The HAUV goes up and down (along y axis) with the changing orientation of these thrusters 122.

The x-axis direction is covered by running all the thrusters 122 mounted in 45 degrees to the body of the HAUV. Similarly other directions are covered by rotating the thrusters 122.
All the connections and the electronics part is maintained by the controller layer of the controller module. The controller layer can be called the heart of the bot. It connects all the sensors 114 of the HAUV and work as the channel maker, where all the sensors 114 and thrusters 122 can publish the data. Those data can be subscribed by other working parts of the HAUV whenever required. The controller layer is also directly connected with the retractable antenna 118 which is required to establish the connection with the UAV for improvising vision.
Since the HAUV uses the concept of subscribing and publishing the data within the controller layer. It does not require any separate connection between any two sensors resulting in a lot of free space. That free space is utilized by the most important purpose of the HAUV, that is by the payload compartment to carry a flexible amount of load (in this case medicines and food). The Payload mechanism of the Payload compartment works in a way that it gets fully retracted when it has to deliver the Payload.
Since the HAUV is equipped with four rotatable thrusters 122 and the shape of the HAUV is tapered streamlined. This provides the HAUV better endurance by providing less drag to the flow. Which in return improves the endurance of the HAUV by 25 to 30 %. After the deployment of the HAUV in the affected flood areas as the first response from the relief team, the HAUV will depend on its thruster and on the vision provided by its front camera & 360 Degree Camera. The vehicle will operate in two modes:
1. Vision > 50% (Less visual interference)
If the HAUV is facing less visual interference in the environment(i.e floodwater), it will use its main front low vision camera 104 fused with the vision from 360 degrees/ Omni¬directional Camera to determine the path and search for the affected people by changing its path.
2. Vision < 50%(Very low or no visual sight/coverage)
If the HAUV is facing a visual/clarity hindrance from the environment, the invention will establish a connection with the UAV (Unmanned Aerial Vehicle) by radio signals

transmitting through the retractable antenna 118 mounted on top of the pressure hull 110 of the invention. The antenna 118 will be retracted to its full length whenever the vehicle is stuck somewhere or when the operator wants to take full control of the vehicle for any critical operation. The vehicle will get the uninterrupted video feed from the UAV and make the decision from the feed.
After successfully navigating through the areas and finding the survivors, it will provide the survivors with basic medical and food supplies stored in the payload compartment. If the survivors would need any serious medical attention, the team would be able to send doctors to the scene. The final task of the invention would be pinging the GPS coordinates/location through the GPS Module 120 mounted inside the Control Module, which comprises receivers receiving signals with the help of retractable antenna 118 mounted on top of the pressure hull 110. Then it will forward the information to the search team to get the precise location of the survivors and efficiently use their resources for the rescue operation. The HAUV will then return to its source location (place of its deployment)following the path traced by the Doppler Velocity Log (DVL). Thus, it will be easier for the vehicle to navigate through the surroundings as it already knows about the obstacles in its path. The obstacles in the HAUV's path once it is deployed has been logged by the DVL in the Control Module till it reaches the target location (where help is needed). The Control Module will then command the HAUV to follow the same path for its return journey.
Figure 2 illustrates an isometric view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure. The vehicle system consists of the hull, two cameras for vision, SONAR for localization, rotatable thrusters for movement, the control unit for the vehicle, a communication device to send back and receive the data to/from the base of operations, retractable antenna and a payload compartment for carrying food and medicines. One of the most essential devices connected to a HAUV that provides the vision to the vehicle is its front camera (1) and 360-degree/Omni-directional Camera (5).
However, water during the flood is found to be muddy most of the time, which can cause hindrance for the vehicle's vision. Now, to achieve a compelling 360-degree vision, AUV will collaborate with an Unmanned Aerial Vehicle (UAV). Whenever the AUV faces poor vision its retractable antenna (6) will be retracted to a certain height above the surface of

the water and establish communication with the UAV flying using radio signals above for the aerial footage of the affected area. This will help in the identification of the affected area and the region that needs help. HAUV will then move to that area, whether it be a house or an open area, and provide relevant help without involving humans, thus minimizing human casualties among the flood relief team. HAUV will then also mark the GPS coordinates for the search team to come and rescue people who are trapped in flood. The HAUV and UAV coordination thus will act as the first response during floods.
Figure 3 illustrates a rear view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure. The front module consists of a low vision camera (1) and a payload compartment (9). The camera provides the front vision in the water. The payload compartment (9) is a detachable compartment that carries the medicines and other necessary supplies.
The controller module (11) is the heart of the vehicle that transfers information from one unit to another. The controller unit provides interconnection between sensors, cameras, thrusters, and antenna. The controller unit is programmed with the Robot Operating System (ROS), which is an open-source tool. With the help of ROS, the controller unit will open several channels on which other devices of the vehicle will subscribe so that they can publish and receive data from one unit to another.
The power module(12) is a part of pressure hull. The Battery Management System is battery monitoring module of the HAUV, which is vital for the HAUV because the safety, operation, and life of the battery depends on it. The main attribute of the battery-management system (BMS) is to check and control the status of batteries within their specified safe operating conditions. The vehicles use a combination of Lithium Polymer battery along with temperature and current sensing sensors. In case the temperature exceeds the battery's manufacturer specified operating temperature the battery will be disconnected from the output power. The combination of Li-po batteries provides an endurance of 2 to 3 hours and a speed of 4 to 5 m/s which can be increased or decreased by controlling the power going to the thrusters.
The HAUV establishes its connection with the UAV by transmitting radio signals through its retractable antenna (6) mounted on top of the Pressure Hull (4) of the Vehicle.

The antenna will be retracted to its full length whenever the vehicle is stuck somewhere or when the operator wants to take full control of the vehicle for any critical operation.
The Vehicle also uses GPS Module mounted inside the Control Module(ll), which comprises receivers with an antenna (6) that uses a satellite-based navigation system with a network of satellites in orbit around the earth to provide position, velocity, and timing information.
The omnidirectional camera (5) mounted on a retractable base and positioned on the Top Cover (3) will get the field of view that covers approximately the entire sphere or at least a full circle in the horizontal plane of the HAUV. it gives large visual field coverage, thus helping the vehicle to identify the affected People. The camera will also help the vehicle to overcome the floating obstacles or the obstacles that are only visible from the Top.
The HAUV comprises 4 Thrusters (2) rotatable on its base. These are used to propel the vehicle in any direction. The vehicle will have 6 degrees of freedom, thus allowing it to manoeuvre through difficult paths. The thrusters are driven by Brushless DC Motors (BLDC), thus giving it a total maximum thrust of 24kgf
The HAUV is coupled with a Pressure sensor in the front & a 360 Pinger SONAR. The IR Feed from the Front Camera (1) is fused with the SONAR system mounted inside the Pressure Hull (4) to safeguard the HAUV and prevent it from hitting any obstruction in its path if any, especially in cases where there is extreme turbidity, thus hampering the vision system. The IR-enabled low vision camera (1) will also give us high-resolution images in low visibility Flood water.
The doppler velocity log (DVL) which is an acoustic sensor is placed inside the pressure hull (4) in between the payload compartment (10) and controller module (11). It is estimating the velocity of the HAUV relative to the surface. The DVL is pointing three acoustic beams in three different directions according to DVL frame of reference for estimating the HAUV velocity relative to the surface. The DVL is helping the HAUV to navigate through the obstacles it will encounter in the flood water and it will also keep track of the path followed by the HAUV from the place/location of its deployment to the affected place/location where help is needed. Thus, it will be easier for the HAUV to return to its

source location using the same path, once it has delivered the payload and marked the Coordinates of location using the GPS module.
Figure 4 illustrates a side view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure. The low vision camera (1) is coupled to a front dome (8) of the vehicle body 102 such that the focal length of the camera captures front view of the vehicle body 102. The four rotatable thrusters (2) are configured with the middle part of the vehicle body 102, wherein two of the four thrusters are fastened to the right side and another two are fastened to the left side of the vehicle body 102. The 360-degree/Omni-directional Camera (5) is extendedly connected to the middle part of the vehicle body 102 through a rod at a certain height for promoting wide view of the camera. The retractable antenna (6) is fastened to a distal end of the middle part of the vehicle body 102. A rear dome (7) is fixed to the rear side of the vehicle body 102 to cover the middle body.
Figure 5 illustrates a top view of a hybrid autonomous underwater vehicle system in accordance with an embodiment of the present disclosure. The front part of the vehicle body 102 is wider than the rear part. A top cover (3) is fastened on the top surface of the vehicle body 102 using a plurality of fasteners. The pressure hull (4) is adjacent to the top cover. The top cover (3) is having four sides of irregular shape fabricated according the dimensional of the vehicle body 102.
Figure 6 illustrates an isometric view of a hybrid autonomous underwater vehicle system with fully retracted payload compartment in accordance with an embodiment of the present disclosure. The payload compartment (10) is attached to the front dome such that the ad compartment is fitted inside the middle part of the vehicle body 102 when pushed towards inner side and extended outwards by pulling or unscrewing when required to store any item. The payload compartment is retracted using payload mechanism.
Figure 7 illustrates a top and side view of a hybrid autonomous underwater vehicle system with fully retracted payload compartment in accordance with an embodiment of the present disclosure. The payload compartment is a rectangular in shape and contains at least two sections for storing different items.

Figure 8 illustrates a sectional view of a hybrid autonomous underwater vehicle system with the controller and power module in accordance with an embodiment of the present disclosure. The middle part of the vehicle contains controller module (11) and power module (12) which is covered by a top cover. The top covers can be removed to access controller module and power module when required.
The drawings and the forgoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment. For example, orders of processes described herein may be changed and are not limited to the manner described herein. Moreover, the actions of any flow diagram need not be implemented in the order shown; nor do all of the acts necessarily need to be performed. Also, those acts that are not dependent on other acts may be performed in parallel with the other acts. The scope of embodiments is by no means limited by these specific examples. Numerous variations, whether explicitly given in the specification or not, such as differences in structure, dimension, and use of material, are possible. The scope of embodiments is at least as broad as given by the following claims.
Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any component(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature or component of any or all the claims.

We Claims:
1. A hybrid autonomous underwater vehicle system for flood relief operations, the
system comprises:
a vehicle body having at least one low vision camera mounted inside a front module of said vehicle body to capture high-resolution images in low visibility flood water and a 360-degree camera/Omni-direction camera mounted on top cover of a pressure hull to avoid obstacles;
a plurality of sensors coupled to a controller module for sensing depth, speed, obstacles, and leakage inside said pressure hull;
a controller unit engaged with said controller module positioned inside said pressure hull is programmed with a robot operating system (ROS) to open several channels on which multiple devices of said vehicle are subscribed to publish and receive data from one unit to another;
a power module placed inside said pressure hull comprising a battery management system to check and control status of batteries within their specified safe operating conditions;
a retractable antenna mounted on top of said pressure hull for establishing a connection to an unmanned aerial vehicle (UAV);
a GPS module placed inside said controller module comprises receivers with said antenna that employs a satellite-based navigation system with a network of satellites in orbit around said earth to provide position, velocity, and timing information; and
at least four thrusters rotatable on its base configured to propel said vehicle body in multiple direction with six degrees of freedom (DOF).
2. The system as claimed in claim 1, wherein front module is comprised of payload compartment which is a detachable compartment that carries medicines and necessary supplies.
3. The system as claimed in claim 1, wherein said battery management system configured with temperature and current sensing sensors to check and control status of batteries, wherein said battery is disconnected from an output power in case said temperature exceeds said battery's manufacturer specified operating temperature.

4. The system as claimed in claim 1, wherein said antenna is retracted to its full length whenever said vehicle body is stuck somewhere or when an operator wants to take full control of said vehicle body for any critical operation.
5. The system as claimed in claim 1, wherein said omnidirectional camera mounted on a retractable base and positioned on said top cover to get field of view that covers approximately entire sphere or at least a full circle in a horizontal plane of said body and promotes large visual field coverage, thus helping in identifying affected people(s), wherein said omnidirectional camera helps said vehicle body to overcome floating obstacles or obstacles that are only visible from top.
6. The system as claimed in claim 1, wherein said plurality of sensors are a pressure sensor for sensing depth and speed, a SONAR for sensing obstacles, a leakage sensor to detect the leakage if any inside the pressure hull.
7. The system as claimed in claim 1, wherein said vehicle body is coupled with a pressure sensor in said front & a 360 Pinger SONAR, wherein an IR feed from said front camera is fused with said SONAR system mounted inside said pressure hull to safeguard said vehicle body thereby preventing from hitting any obstruction in its path if any, especially in cases where there is extreme turbidity, thus hampering said vision system.
8. The system as claimed in claim 1, comprises a doppler velocity log (DVL) placed inside said pressure hull in between said payload compartment and controller module for estimating velocity of said vehicle body relative to the surface wherein said DVL is pointing three acoustic beams in three different directions according to DVL frame of reference for estimating velocity of said vehicle body relative to said surface.
9. The system as claimed in claim 8, wherein said DVL allows to navigate through said obstacles it encounters in the flood water and keep track of a path followed by said vehicle body from a place/location of its deployment to an affected place/location where help is needed thereby allows said vehicle body to return to its source location using said path, once it delivers said payload and marked coordinates of location using said GPS module.

10. The system as claimed in claim 1, wherein said four thrusters are engaged with said vehicle body which is driven by brushless dc motors (BLDC), thus giving it a total maximum thrust of 24kgf