Prototype for localization of multiple fire detecting mobile robots in a dynamic environment

摘要

Cataclysmic circumstances around the globe are increasing day by day either because of some severe natural disasters or human faults. Fire occurrences have a place with the latter kind of fiasco, which typically need to do with human mistake. The biggest casualties of fire risk are generally the commercial ventures, processing plants, oil refineries, industries and comparative locales, which essentially work with combustible or volatile materials. Surveillance of such sites is the requirement to build security for the human work power and property. This work displays a model for the observation of an imitated fire site utilizing multiple fire identifying robots. This model addresses localization of two fire detecting mobile robots on a round lattice in a dynamic domain. The robots are assembled with the LEGO MINDSTORMS NXT 2.0 kits and are customized via LabVIEW Module of LEGO MINDSTORMS (LVLM). The aforementioned mobile robots - revolving in circular movement - screen the imitated fire site and when any of the two robots identify a flame, they perform certain characterized tasks. The Bluetooth protocol feature is used to establish communication between the two robots. Each robot is equipped with a thermal infrared sensor (TIR) by Dexter Industries for detecting fire and an ultrasonic sensor to avoid collision with obstacles being presented with a dynamic environment.