IAES International Journal of Robotics and Automation (IJRA)

Vol. 13, No. 4, December 2024, pp. 373~379

ISSN: 2722-2586, DOI: 10.11591/ijra.v13i4.pp373-379  373

Low-cost multi-sensing fire-fighting robot with obstacle

avoidance mechanism

Adekunle Taofeek Oyelami1,2, Joshua Ayomide Oyadokun1, Olusola A. Akintunlaji3,

George C. Ihenacho2
1
Department of Mechatronics Engineering, Federal University of Agriculture, Abeokuta, Nigeria
2
Department of Mechanical Engineering, Pan Atlantic University, Ibeju Lekki, Lagos, Nigeria
3
Department of Mechanical Engineering, Olusegun Agagu University of Science and Technology, Okitipupa, Ondo State, Nigeria

Article Info ABSTRACT

Article history: Robots are mostly optimized for tasks that require strength exceeding that of
humans or for operations in hazardous environments. The fire-fighting robot
Received Mar 25, 2024 developed has multiple sensing capabilities with obstacle avoidance
Revised Jul 26, 2024 mechanisms and is divided into two units: the robot and the static unit. The
Accepted Jul 30, 2024 robot is equipped with three flame sensors to detect flames (infrared
radiation) in three directions, an ultrasonic sensor to avoid obstacles, a
wireless receiver to receive data from the static unit, a magnetometer giving
Keywords: the robot a sense of direction, and a unit of Arduino Mega microcontroller
serving as the central controlling platform. The static unit has four flame
Arduino sensors and a transmitter that transmits signals to the robot unit, which an
Magnetometer Arduino Uno directly controls. A prototype was developed, which helps
Microcontroller prevent the escalation of fires in the home as it can detect, navigate and
Robot extinguish flames while avoiding obstacles autonomously.
Ultrasonic sensor
This is an open access article under the CC BY-SA license.

Corresponding Author:
Adekunle Taofeek Oyelami
Department of Mechatronics Engineering, Federal University of Agriculture
Abeokuta, Nigeria
Email: [email protected]

1. INTRODUCTION
Fire is a chemical reaction that produces heat and light as it consumes a fuel source in the presence
of oxygen. A firefighter can be simply put as a person who puts out fires, utilizing tools with the capability to
extinguish and contain fires, thereby preventing the loss of lives and properties [1]. Firefighting is a
physically demanding, critical, and hazardous task that often puts the firefighter's lives at risk [2]–[4].
Advances in technology have made firefighting easier, bridging the gap between firefighting and machines,
thereby creating a more efficient and effective method of firefighting [5]–[7].
A robot is an automated intelligent mechanical being, i.e. a machine designed to behave like a
human or other elements to carry out complex tasks by moving physically after being programmed [8]–[11].
Oyelami et al. [12] discussed the significant rise in robot usage across several fields. Robots can be divided
into various groups, with some grouped based on the mode of operation. These include Android robots,
which are designed to act like humans and mimic their actions, and autonomous robots, which are capable of
acting on their own or independently [13]–[15]. Mobile robots, unlike fixed robots, have a movable base and
can navigate using instructions from human beings. Tele-robots and Telepresence robots are quite similar in
operation, the technical difference between them is that the latter gives feedback in digital formats like a
video, sound clip, and other media data.

Journal homepage: http://ijra.iaescore.com

374  ISSN: 2722-2586

The main challenges for the development of autonomous walking robots as summarized by Nonami
et al. [16] are i) the need for energy-efficient actuators with optimal weight-to-torque and volume-to-torque
ratios; ii) the availability of reliable and economical sensors; iii) the use of lightweight but mechanically
strong materials for construction; iv) the requirement for small but high computing power in onboard
computers; and v) The necessity of lightweight power sources for extended operational duration.
An autonomous firefighting robot is not entirely new, research works have shown progress
using different technologies, but also with notable constraints. The development of a firefighting robot by
Aliff et al. [8] uses Arduino Uno as its microcontroller equipped with a webcam for visual feedback, an
ultrasonic sensor for obstacle avoidance, a flame sensor, a water pump, a direct current motor, and also a
transmitter and remote control for controlling the robot remotely. The robot has a limited flame sensing range
of 40 cm which can be manually monitored by using a camera that connects to a smartphone or remote
devices and controls it to the site of the flame. Archana and Suma [5] incorporated an LM35 temperature
sensor, with the major limitation to the design being the sensing range. The intelligent wireless fire
extinguishing robot by Islam et al. [9], however, took advantage of the Internet of Things to make an
internet-controlled robot. It uses Arduino Uno to control the robot, and Arduino Yun has built-in Ethernet
and Wi-Fi for external communication and video feedback through the webcam. There was also an instance
of utilizing a PID controller as opposed to an Arduino microcontroller to achieve more precise control of the
robot's movements and responses, as well as more accurate fire extinguishing capabilities [14].
It can be noted that the designs mentioned above featured limited flame sensing range, while others
relied on remote control or internet connectivity, which may not be practical in all firefighting scenarios. This
project addresses these limitations by developing an autonomous firefighting robot with an extended sensing
range and enhanced autonomous capabilities. The proposed solution includes a static sensing unit equipped
with multiple flame sensors and a transmitter to relay fire location information to the robot. The robot itself is
designed with a proportional motor control system for bi-directional movement, an ultrasonic sensor for
obstacle avoidance, and three infrared flame sensors for comprehensive fire detection. These components
interact with a microcontroller that operates a water pump to extinguish detected fires [17], aiming to provide
an extended range, more effective, and autonomous firefighting solution.

2. METHOD
The construction of this project utilized several key components, including the Arduino Mega and
Arduino Uno microcontrollers, flame sensors, servo motors, L298N motor driver, water pump, water tank,
ultrasonic sensors, lithium-ion batteries, 433 MHz transmitter and receiver, and the QMC 5883L
magnetometer. These components were meticulously selected based on their reliability, cost-effectiveness,
and compatibility with the design specifications of the autonomous firefighting robot. These components
were further divided into two separate units: static and mobile (robot).

2.1. The static unit

The static unit is made up of an Arduino Uno, four flame sensors, a 433 MHz transmitter, and a
power supply. Four flame sensors are positioned at the corners of the structure for this project, and they serve
as additional fire-sensing units to aid the robot and can be scaled to any number depending on the range to be
covered. When any of these sensors detect fire in this sensing range, the Arduino Uno microcontroller sends
a signal to the robot unit to alert it. This signal will contain the location of the sensor that sensed the fire so
that the robot can proceed to that location and extinguish the fire. The block diagram of the static unit is
shown in Figure 1.

Figure 1. Block diagram of the static unit

IAES Int J Rob & Autom, Vol. 13, No. 4, December 2024: 373-379
IAES Int J Rob & Autom ISSN: 2722-2586  375

2.2. The main robot

The robot unit consists of the chassis with motor and wheel, the Arduino Mega, three flame sensors,
servo motor, motor driver, extinguisher storage, power supply, water pump, radio frequency receiver, and
ultrasonic sensor. The main processing unit of this section is the Arduino Mega microcontroller. It receives
signal input from the flame sensors to complete the flame detection system from the ultrasonic sensor to
complete the obstacle avoidance system and the radio frequency receiver to adequately process incoming
signals and complete the transmission system. Other sub-units include the water pump used to extinguish the
flame in its surroundings and the magnetometer to process the sense of the location of the robot. Figure 2
shows a high-level overview of the interconnection of the various components and the direction of the signal.

Figure 2. Robot signal pathway

The motion of the robot is controlled based on the Arduino Mega through the L293N module motor
driver based on the information received from the flame, ultrasonic sensor, and radio frequency receiver.
Flame sensors have a sensing range of about 1 m and an angle of 60° thereby making it possible to combine
three flame sensors to give a total coverage angle of 180° [18], [19]. In this way, the sensors not only
increase the sensitivity range but also give the robot some sense of direction; left, forward, and right.
The ultrasonic sensor is positioned on the chassis at the front of the robot. The main function of the
ultrasonic sensor is to sense the presence of obstacles in the robot paths [20]–[23]. Obstacles may include a
wall or a solid object that throws the robot out of balance. If the static unit senses the fire, the robot proceeds
towards it in the direction of the sensing sensor using its ultrasonic sensor to avoid obstacles. It extinguishes
it by powering the water pump and servo motor that spray water in a sweep motion.
The environment for implementation was carefully mapped out into five key locations: 0, the initial
starting point, and 1, 2, 3, and 4, which correspond to the four corners of the environment and the positions of
the flame sensors connected to the static unit. This strategic arrangement ensures comprehensive coverage
and accurate fire detection throughout the entire area. The precise bearings and coordinates of all locations
relative to each other were carefully encoded into the robot's navigation system, allowing it to autonomously
and efficiently travel to any specified location within the mapped area [24]–[26]. This setup not only
enhances the robot's operational efficiency but also maximizes its ability to respond quickly and effectively
to fire incidents. A visual representation of this mapping can be seen in the accompanying Figure 3 and the
robot prototype in Figure 4.

Figure 3. Robot pathway

Low-cost multi-sensing fire-fighting robot with obstacle avoidance mechanism (Adekunle Taofeek Oyelami)
376  ISSN: 2722-2586

Figure 4. Robot prototype

3. RESULTS AND DISCUSSION

This design was implemented on a four-wheel drive chassis. The chassis houses all the components
which include the motor, batteries, motor shields, sensors, magnetometer, transceiver, and servo motors. It
protects them from any damage from the fire source. The robot successfully detected multiple flames from
around it and also received signals from the transceiver at the static units, thereafter, navigating toward the
flame with the directional aid of the compass and extinguishing the flame from a safe distance.
Analysis of the results obtained is divided into the following subsystems: i) the flame detection
system, ii) the obstacle avoidance system, and iii) the navigation and transmission system.

3.1. Flame detection system

This test conducted was to determine the coverage distance and the angle of the three analog flame
sensors installed on the robot. According to the datasheet, each flame sensor has a coverage angle of 60° and
can sense flame up to 100 cm away and this test was carried out to ensure the obtained data was accurate.
This robot uses three flame sensors and is arranged in such a way as to provide it with 180° of flame
detection. The angle was measured from the leftmost sensor and the test sought to confirm the flame
detection angle and range. The result at 100 cm is shown in Table 1.

Table 1. Sensorics analysis at different flame detection angles

S/N Angle (°) Response Time (s) Sensor Sensitivity (s/cm) Sensor Reading Test Result
1 0 0 0.00 1024 FAILED
2 20 10 0.10 250 PASS
3 40 8 0.08 200 PASS
4 60 2 0.02 150 PASS
5 80 1 0.01 137 PASS
6 100 1 0.01 136 PASS
7 120 4 0.04 138 PASS
8 140 6 0.06 151 PASS
9 160 8 0.08 200 PASS
10 180 0 0.00 1024 FAILED

3.2. Obstacle avoidance system response

This test was conducted by placing obstacles on the robot’s path and analyzing the response. The
programmed response of the robot is to halt if it is 30 cm away from an obstacle, check if the left path is free
by rotating the servo motor that holds the ultrasonic sensor towards the left, and then read and record the
distance, before rotating the ultrasonic sensor to the right to also check the distance towards the right. It then
compares the two values and takes the path with a clearer path and the result obtained from this test is shown
in Table 2.

Table 2. Response analysis based on obstacles on the robot’s path

S/N Obstacle Distance Robot Left Path Obstacle Right Path Obstacle Correct Path Path Robot Is the robot
Distance (cm) Halted (cm) Distance Distance (cm) to take took correct?
1 100 28 70 80 Right Right Yes
2 50 25 50 20 Left Left Yes
3 30 30 60 65 Right Right Yes
4 15 15 0 60 Right Right Yes

IAES Int J Rob & Autom, Vol. 13, No. 4, December 2024: 373-379
IAES Int J Rob & Autom ISSN: 2722-2586  377

3.3. Navigation and transmission system

This test was carried out by triggering the flame sensors connected to the static unit and measuring
the time taken for the robot to respond. There are five different locations as stated in the methodology. The
robot was placed at one each time and the static unit sends a signal for the remaining four locations. The
distance between locations was also measured. For the obtained results, one can obtain the signal response
speed and also the robot’s navigation speed. The complete results obtained from this test are shown in Table 3.

Table 3. Robot response time to flame sensing

S/N Current Static Unit Distance between Response Response Speed Travel Robot Navigation
Location Signal location (cm) Time (sec) (cm/sec) Time (sec) Speed (cm/sec)
1 0 1 250 5 50.00 15 16.7
2 2 250 6 41.70 13 20.8
3 3 250 5 50.00 14 17.9
4 4 250 8 31.30 17 14.7
5 1 2 265 10 26.50 25 10.6
6 3 500 15 33.30 30 16.7
7 4 400 17 23.50 25 16.0
9 2 1 265 9 29.44 22 12.1
10 3 400 15 26.70 27 14.8
11 4 500 16 31.25 31 16.1
12 3 1 500 17 29.40 33 15.2
13 2 400 16 25.00 28 14.3
14 4 265 10 26.50 27 9.8
15 4 1 400 17 23.50 30 13.3
16 2 500 20 25.00 32 15.6
17 3 265 10 26.50 30 8.3

4. CONCLUSION
The developed robot is a prototype of a semi-advanced firefighting robot created on a limited
budget. Despite financial constraints, the robot demonstrates accurate and efficient obstacle avoidance and
fire detection capabilities. It can detect fire within a wavelength range of 760 to 1100 nm and a distance from
10 cm to 100 cm on the main. The range extension from the static units also provided an extended 100 cm
sensing range, marking a significant improvement and an additional advantage compared to other similar
setups.
Building an autonomous mobile robot navigation system is challenging, particularly in unknown or
unmapped environments. The system successfully integrates multiple sensors to gather comprehensive
environmental data, enabling it to generate appropriate behaviors and achieve its objectives autonomously.
This integration is crucial for the robot to operate effectively in environments that are out of human reach or
too dangerous for human intervention.
In conclusion, the successful development and testing of this autonomous firefighting robot
prototype demonstrates its potential as a practical and innovative solution for fire disaster management. By
addressing key challenges in fire detection and navigation, this research paves the way for future
advancements in autonomous firefighting technology, promising safer and more efficient operations. The
project's outcomes suggest a transformative impact on firefighting practices, significantly reducing the risks
faced by human firefighters and enhancing overall fire management strategies.

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BIOGRAPHIES OF AUTHORS

Adekunle Taofeek Oyelami holds a Ph.D. Degree in Mechanical Engineering

with a bias for Computer Integrated Manufacturing. He later developed an interest in
mechatronics systems and lectures at the Department of Mechatronics Engineering, Federal
University of Agriculture, Abeokuta, Nigeria. He was a former Acting Head of his
department. He is currently on sabbatical appointment at the Department of Mechanical
Engineering of the Pan Atlantic University, Ibeju Lekki, Lagos Nigeria, and can be
contacted via email at [email protected] or [email protected]

Joshua Ayomide Oyadokun is a recent graduate from the Department of

Mechatronics Engineering, Federal University of Agriculture, Abeokuta, Nigeria. His area
of interest is automation and control Engineering. Oyadokun can be contacted via
[email protected]

IAES Int J Rob & Autom, Vol. 13, No. 4, December 2024: 373-379
IAES Int J Rob & Autom ISSN: 2722-2586  379

Olusola A. Akintunlaji holds a Ph.D. Degree in Mechanical Engineering

specializing in Computer Aided Engineering including CAD/CAM/ CNC. He currently
lectures at the Department of Mechanical Engineering, Olusegun Agagu University of
Science and Technology, Okitipupa, Ondo State, Nigeria. He can be contacted via
[email protected].

George C. Ihenacho holds a PhD Degree in Mechanical Engineering with a

specialization in Automotive Engineering and Heat Engines. He was a former Senior
Lecturer at the Federal University of Technology, Owerri Nigeria, and also previously
Chief Engineer at the Michelin Tyre Manufacturing plant in Port Harcourt, Nigeria. He is
currently lecturing at the Department of Mechanical Engineering of the Pan Atlantic
University, Ibeju Lekki, Lagos Nigeria, and can be contacted via email at
[email protected].

Low-cost multi-sensing fire-fighting robot with obstacle avoidance mechanism (Adekunle Taofeek Oyelami)