Paper
Simulation and Modeling of Fire Searching Using a Mobile Robot in Low Visibility Conditions
- Authors:
- Alexander A Tachkov
- Abstract
- This paper presents an approach to search for a fire source in a group of rooms using a mobile tracked reconnaissance robot. The approach is based on the proportional guidance method in a temperature field. This method integrates robot kinematic and dynamic equations. According to the control strategy, a robot angular velocity is proportional to the rate of turn of the temperature gradient that guides the robot to the fire. We prove that the passive proportional guidance method is equivalent to the gradient-search method. The navigation law is simulated and tested experimentally using the tracked robot in the case of a temperature field.
- Keywords
- Proportional Navigation; Search for Source of Fire Using Mobile Robot; Exploration of Fire
- StartPage
- 193
- EndPage
- 201
- Doi