¹ National Yunlin University of Science & Technology/Graduate school of Electrical Engineering, Yunlin, Taiwan
² WuFeng University/Department of Fire Science, Chia-Yi, Taiwan

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Abstract—The paper researches the fire sources and programs escaping path using mobile robots for intelligent building, and presents the movement scenario in the experimental platform. The mobile robot has the shape of cylinder and its diameter, height and weight is 10cm, 18cm and 1.5kg. The controller of the mobile robot is MCS-51 microchip, and acquires the detection signals from flame sensor and reflecting IR sensors, and receives the control command from the supervised compute via wireless RF interface. The mobile robot searches fire sources and obstacles moving in the experimental platform autonomously, and transmits the locations of the detected fire sources and obstacles to the supervised computer, too. The supervised computer uses Gauss probability distribution function to compute the risk values around the fire location, and uses Bayesian estimation algorithm to calculate the total risk values of each location of the experimental platform. We proposed A* searching algorithm to program escaping paths according to the risk distribution of each cross point in the platform. We develop user interface on the supervised computer for the fire detection and escaping system. The supervised computer displays the escaping path on the user interface, and guides peoples moving to the safety area using mobile robots. In the experimental results, we use two mobile robots searching the fire sources autonomously and locating the positions of the fire sources. The supervised computer programs the escaping paths using Bayesian estimation algorithm and A* searching algorithm on the user interface. The mobile robot guides people moving to the safety area according to the programmed escaping path.

Index Terms—intelligent building system, wireless RF interface, Gauss probability distribution function, A* searching algorithm, Bayesian estimation algorithm

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Cite: Hsu-Shan Su, Song-Hiang Chia, Jhen-Wei Liou, and Kuo-Lan Su, " Mobile Robots Based Intelligent Fire Detection and Escaping System," Journal of Computers vol. 8, no. 5, pp. 1298-1302, 2013.