Title :
Design and construction of a fully autonomous fire fighting robot
Author :
Dearie, Scott ; Fisher, Kevin ; Rajala, Brian ; Wasson, Steven
Author_Institution :
New Mexico Inst. of Min. & Technol., Socorro, NM, USA
Abstract :
This paper covers the design and construction of a robot that is able to navigate a maze, detect and extinguish a fire, and return to its original location. This robot is fully autonomous and implements the following concepts: environmental sensing and awareness, proportional motor control based upon environmental factors, digital speed decoding through programmable logic, differential drive control, and isolation of low and high power systems. This robot processes information from its various sensors and key hardware elements via a Motorola 68HC12 micro-controller with 64 kB of expanded memory. It uses UV, IR and visible light to detect various components of its environment. The design criteria for this robot were based upon the rules for the Trinity College Home Fire Fighting Robot Contest
Keywords :
electric control equipment; fires; industrial robots; microcontrollers; motion control; proportional control; robot vision; 64 kB; Motorola 68HC12 microcontroller; construction; design; differential drive control; digital speed decoding; environmental awareness; environmental factors; environmental sensing; expanded memory; fully autonomous fire fighting robot; programmable logic; proportional motor control; robot vision; Decoding; Environmental factors; Fires; Motor drives; Navigation; Programmable control; Programmable logic arrays; Programmable logic devices; Proportional control; Robot sensing systems;
Conference_Titel :
Electrical Insulation Conference and Electrical Manufacturing & Coil Winding Conference, 2001. Proceedings
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-7803-7180-1
DOI :
10.1109/EEIC.2001.965638