Development of Virtual Firefighting Robots Using Breitenberg and Fuzzy Logic Methods

摘要

Virtual robotics is an alternative way to test many methods effectively and quickly using artificial environments. Firefighting robot's model is an example of virtual robotics case in which virtual robot is developed to help firefighters in extinguishing the fire. In this paper, development of a maze solver simulation in artificial environment with a target to put out the fire is presented. For the control algorithm, Braitenberg method and fuzzy logic technique have been developed in the system, and a comparison of the performance of both methods in firefighting case is performed and the results are presented. Virtual Robotics Experiment Platform (V-REP) and Python software is applied in the development. Two different scenarios in fire extinguishing case with several initial starting point are implemented in the test. The results show how the developed virtual firefighting robots work satisfactorily for the intended purposes and which techniques yield a faster time in solving the problem.