A Novel Method of Mobile Robot Fire Detection and Tracing Using Proportional Derivative (PD) Algorithm

Abstract:

One of the problems in intelligent mobile robot fire fighting contest is how the robot can find and can extinguish a fire without alot of sensors. The fire is located in a white circle area at one of the corner in room with random combinations. The way to solve this problems is conventional method-called-wall tracing. The robot uses wall tracing method to navigate, when entering the room this method still in used by the robot until its find the fire spot then uses one additional sensor to detect the white circle area where the fire located at. After detecting the white circle area, the robot will extinguishes the fire. This paper proposed a new method as optimization of conventional method. The proposed method is implementation of current algorithm (proportional derivatives algorithm) not only to wall tracing but also to TPA81 sensor (fire tracing) -called-wall and fire tracing method. Furthermore, this method is combination method between wall tracing and fire tracing. The robot will approach directly to the fire without wall tracing and without detecting white circle area. Then, the robot extinguishes the fire quickly. The robot uses only TPA81 sensor that can be used to detects the fire spot and its position in the room. Test result shows that 50% of the fire position variation on Indonesian Intelligent Robot Contest can be optimized using this method.

• Periodical: Applied Mechanics and Materials (Volume 771)
• Pages: 68-71
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.771.68
• Online since: July 2015
• Authors: Uvi Desi Fatmawati, Wahyu Hidayat, Danang Lelono
• Keywords: Fire Extinguisher, Fire Fighting Robot, Indonesian Robot Contest, Proportional Derivative, Thermophile Array Sensor

References

[1] Dikti, Rule of KRI KRCI dan KRSI, available on http: /www. dikti. go. id.

[2] S. Dearie, K. Fisher, B. Rajala, S. Wasson, Design and Construction of a Fully Autonomous Fire Fighting Robot, Proc. of Electrical Insulation Conference and Electrical Manufacturing & Coil Winding Conference. (2001) 303-310.

DOI: 10.1109/eeic.2001.965638

[3] I. Ardiyanto, Task Oriented Behavior-Based State-Adaptive PID (Proportional Integral Derivative) Control for Low-Cost Mobile Robot, Proc. 2nd Int. Conf. on Computer Engineering and Application (ICCEA). (2010) 103-107.

DOI: 10.1109/iccea.2010.27

[4] I. Ardiyanto, Application of Proportional Integral Derivative Controller on Wall Follower Robot Based on ATMEGA16 Using Ultrasonic Sensors, Final Project in Universitas Gadjah Mada, Indonesia, (2009).

[5] W. S. Aji, F. Hermawanto, Muchlas, Fire extinguisher prototypes robot with ultrasonic and ultraviolet-based sensor using AT89S52, Telkomika 7(3) (2009) 207-212.

DOI: 10.12928/telkomnika.v7i3.596

[6] K. Altaf, A. Akbar, B. Ijaz, Design and Construction of an Autonomous Fire Fighting Robot, Int. Conf. on Information and Emerging Technologies (ICIET). (2007) 1-5.

DOI: 10.1109/iciet.2007.4381341

[7] R. Dorf, H. Bishop, Modern Control System, 12nd ed, Prentice Hall International, United Kingdom, (2010).