Firefighter Robot

Autonomous robot that navigates a labyrinth, detects a flame, and extinguishes it

2021 Academic Project • Robotics

Goal

Build an autonomous robot able to navigate a maze, detect a flame, approach it safely, and extinguish it using an onboard fan/airflow mechanism.

Key Features

Autonomous maze navigation with obstacle avoidance
Flame detection using a light/flame sensor array
Target approach logic to align with the flame source
Extinguishing routine (fan-based) with verification (re-scan if flame persists)
Failsafes: timeouts and retreat behaviors to avoid getting stuck

Technical Implementation

Hardware

Arduino DC Motors Motor Driver Flame/Light Sensor Ultrasonic Sensors Cooling Fan

Software

C/C++ (Arduino) Finite-State Machine PID-like Speed Control

Algorithm Overview

Explore: Follow corridors, avoid obstacles, and scan for flame intensity.
Localize: Rotate and compare sensor readings to determine flame direction.
Approach: Advance with small corrections while monitoring intensity.
Extinguish: Activate the fan for a defined cycle, then re-check.
Verify: If flame remains, repeat; otherwise, resume exploration or stop.

Challenges & Learnings

Tuning the navigation and approach behavior was the biggest challenge—especially balancing sensor noise and motor control to avoid oscillations. The project reinforced practical skills in sensor fusion, embedded C/C++ on Arduino, and designing clear state machines for robotics tasks.