Artificial Intelligence based Wheeled Fire Fighting Robot with A Fire Extinguishing, Ball-Shooting Turret for Forest Areas

摘要

An innovative wheeled fire extinguisher robot was born out of this endeavour. There are two degrees of freedom (DoF) in the defibrillator gun turret that the robot is equipped with. Using PID and SMC controls, robots can have their firing system mechanical oscillations regulated, which can be bothersome. The robot can move quickly on level ground because of its five-piece transformable wheel structure. On uneven terrain, the robot may climb obstacles by latching onto them thanks to the mechanism that opens the wheel, which transforms it into a star shape. Using Matlab’s Simmechanic environment, the fireman robot’s mechanical design was initially created in three dimensions. Creating a three-dimensional Simscape model and kinematic model of the turret system were the following steps. This model was used to mimic the throwing of fire-extinguishing balls onto fire spots placed 20 to 80 metres horizontally and 1 to 30 meters vertically under three different conditions: robot remains stationary, moves at constant speed, and rotates around itself. Out of 105 shots, the simulations yielded an $85.71 \%$ success rate with PID and a $\mathbf{9 5. 2 3 \%}$ success rate with SMC. The built fire robot was shown to be useful in firefighting after the error rates were examined.