An Autonomous Fire-fighting Robot with Ackermann Steering Mechanism

Abstract

Fire prevention and control has always been a topic of concern. Autonomous fire-fighting robot can replace firefighters to complete this dangerous task, which improves work efficiency and ensure work safety to a certain extent. Considering the large volume and weight of the fire-fighting robot, the Ackermann steering mechanism is suitable for the chassis of the robot. This paper focus on the design of the autonomous fire-fighting robot using the Ackermann type of chassis. According to the kinematics of the Ackermann structure, this paper use TEB local path planning algorithm and AMCL positioning algorithm to form a navigation framework to complete the autonomous positioning and navigation of the firefighting robot. At last, a simulation environment is built and the proposed scheme are well demonstrated by the experimental results.