Design and Implementation of a Sensor-Based Autonomous Firefighting Robot for Detection, Classification, and Extinguishing of Class A and Class B Fires

This study centers on designing and implementing an autonomous firefighting robot. Accordingly, this also centers on the operation of the constructed prototype. Regarding the characterization of fires, the firefighting robot yielded high reliability in terms of characterizing fires in indoor and outdoor locations concerning the gas and alcohol concentrations and the suppressant released. As for autonomous control, the firefighting robot reliably avoids obstacles and reaches the target location. As for the response time of the robot, the average response time for fires started with cloth, alcohol, wood, and gas in seconds in the indoor setting resulted in 18.1, 18.7, 18.2, and 19.3, respectively, while the mean response time for fires concerning the aforementioned materials ignited in seconds in the outdoor setting is 25.7, 26.2, 25.7, and 26.6, respectively.