Red Bull (Dog)

Autonomous Fire Fighting Agent

The City The Burning Building

Battlefield New Haven a.ka. Where Yale Univ. is

Functions

• Follow lines ( Streets) toward a possible fire

• Park in front of the building• Use CMU Cam to find flame on

black background of building.• Aim water cannon and extinguish

Behaviors

• Line Following• Intersection Detection• Obstacle Avoidance• Tracking the fire• Arbitration• Targeting a fire on multilevel building• Extinguishing fire

Inside the BeastBattery Holder

Dual H-Bridge Mavrik IIb

LCD Display

Switchs (Board,Sensor, Servos)

Power Board

“The beast (I) likey Beyonce”

Sensor Arrays

Line-Following Sensor Array

•Forward Pair-Line Following

•Backward pair- Intersection Detection

Forward Pointing Sensor Array

•Pyroelectric Sensor

•Forward IR Sensor

FORWARD IR CHARACTERIZATION

0

100

200

300

400

500

600

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

DISTANCE IN INCHES

IR V

ALU

E

Series2

Water Cannon IR Characterization

Lower minimum tilt angle

Higher minimum tilt angle

Future Work

• Better vision algorithm• BlueTooth Module communication• Second Agent• Trinity Fire Fighting Competition

Pyro Values

0

200

400

600

800

1000

1200

0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180

Angle in degs

Pyr

oel

ectr

ic V

alu

es

Pyro Values

Fire location=(Low Servo + High Servo) / 2

Previews