Real-Time Fire and Smoke Detection for Trajectory Planning and Navigation of a Mobile Robot

被引:1
|
作者
Ngoc, Pham Van Bach [1 ]
Hoang, Le Huy [1 ]
Hieu, Le Minh [1 ]
Nguyen, Ngoc Hai [1 ]
Thien, Nguyen Luong [1 ]
Doan, Van Tuan [2 ]
机构
[1] Vietnam Acad Sci & Technol, Space Technol Inst, Sefas Dept, Ho Chi Minh City, Vietnam
[2] Hung Yen Univ Technol & Educ, Hai Duong, Vietnam
关键词
-mobile robots; robot mapping; smoke and fire real-time detection; dynamic environment; localization; presumptive environment; robot navigation; object identification;
D O I
10.48084/etasr.6252
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Mobile robots have many industrial applications, including security, food service, and fire safety. Detecting smoke and fire quickly for early warning and monitoring is crucial in every industrial safety system. In this paper, a method for early smoke and fire detection using mobile robots equipped with cameras is presented. The method employs artificial intelligence for trajectory planning and navigation, and focus is given to detection and localization techniques for mobile robot navigation. A model of a mobile robot with Omni wheels and a modified YOLOv5 algorithm for fire and smoke detection is also introduced, which is integrated into the control system. This research addresses the issue of distinct objects of the same class by assigning each object a unique identification. The implementation not only detects fire and smoke but also identifies the position of objects in three-dimensional space, allowing the robot to map its environment incrementally for mobile navigation. The experimental results demonstrate the high accuracy achieved by the proposed method in identifying smoke and fire.
引用
收藏
页码:11843 / 11849
页数:7
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