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.