Modelling, Simulation and Mechatronics Design of a Wireless Automatic Fire Fighting Surveillance Robot

B. Madhevan; R. Sakkaravarthi; G. Mandeep Singh; R. Diya; Durgesh Kumar Jha

doi:10.14429/dsj.67.10237

B. Madhevan Vellore Institute of Technology University, Chennai - 600 127
R. Sakkaravarthi Vellore Institute of Technology University, Chennai - 600 127
G. Mandeep Singh Vellore Institute of Technology University, Chennai - 600 127
R. Diya Vellore Institute of Technology University, Chennai - 600 127
Durgesh Kumar Jha Vellore Institute of Technology University, Chennai - 600 127

DOI: https://doi.org/10.14429/dsj.67.10237

Keywords: Fire detecting, Mobile robot, Search and rescue security, System architecture, Virtual reality simulation, Obstacle avoidance, Robot navigation, Robot motion planning

Abstract

The aim of this study is to design and develop an autonomous fire proof rescue robot. The robot is designed in such a way, that it can traverse through fire and hazardous situations. Further, it will sense and communicate information regarding these situations in real time with the server. The robot is fixed with multi-sensors and further, a driver circuit has been integrated for communication in these hazardous situations through Zigbee and a data acquisition system (DAQ). In mechanical design first, a 3D solid model is generated using Solid works software to understand the basic structure of robot which provides information regarding robotic platform, size and location of various components. The developed fire fighting robot is a predominately outdoor ground-based mobile robotic system with onboard subdual systems that can traverse autonomously in the hazardous environment. The robot is designed such that it can traverse into the fire and send information regarding the fire behaviour and also the images of the victim’s location by using a camera. Further, a mathematical model which describes the kinematics and dynamic behaviour of robot motion are done. V-REP is used to create the simulation of the robot in a fire simulated fire environment. Finally, for the path planning, various techniques are discussed such as V-REPs inbuilt path planning module, A*, Fuzzy logic and artificial potential fields.

Author Biographies

B. Madhevan, Vellore Institute of Technology University, Chennai - 600 127

Dr Madhevan B. did his PhD in mobile robot from Indian Institute of Information Technology Design and Manufacturing (IIITDM) Kancheepuram, India, where he worked on implementation of role assignment for multi robot. Presently working as Robotics Scientist at Digirobotics, London. Currently he focuses on robotics and automation technologies for humanitarian social needs.

R. Sakkaravarthi, Vellore Institute of Technology University, Chennai - 600 127

Dr Sakkaravarthi R. is currently serving as an Associate Professor, School of Computing Science and Engineering, VIT University, Chennai. Currently he focuses on dependable computing, autonomic computing, fault to lerant computing, adaptive middle ware architecture, triple play resilience.

G. Mandeep Singh, Vellore Institute of Technology University, Chennai - 600 127

Mr Mandeep Gill is Mr Mandeep Gill did his master’s in the stream of Mechatronics, VIT University, Chennai. His area of interest includes control system and intelligence system.

R. Diya, Vellore Institute of Technology University, Chennai - 600 127

Ms Diya R. did her master’s in the stream of Mechatronics, VIT University, Chennai. Her area of interest includes robotics and automation.

Durgesh Kumar Jha, Vellore Institute of Technology University, Chennai - 600 127

Mr Durgesh Jha did his master’s in the stream of Mechatronics, VIT University, Chennai. His area of interest includes image processing and automation.