Software Implementation of an Autonomous Robot Capable of Detecting and Extinguishing a Flame

Gabriel-Petrut Badicioiu, Alexandru Savulescu


In this paper, it is presented, mainly from the point of view of designing the control program, the making of a mobile robot capable of detecting and extinguishing a flame. The program was structured using two main functions: the avoid() function that makes the robot to move around, avoiding the obstacles encountered in his path, and the firefighter() function that detects and extinguishes the flame. In terms of flame detection, the disturbance (sunlight variation) on the flame sensors has been canceled. There are presented the organization chart of the implemented program, the role of the auxiliary and main functions designed, as well as the main implemented code structures. After uploading the program on the Arduino Microcontroller, it appeared that the robot worked well and accomplished the intended task.

Full Text:



W. Yang, “Autonomous robots research advances”, Nova Science Publishers Inc., New York, 2008

H. Hexmoor, “Essential principles for autonomous robotics”, Morgan & Claypool Publishers, 2013

S. Tzafestas, “Introduction to mobile robot control”, Elsevier, 2013

H. Asama, T. Fukuda, T. Arai, I. Endo, “Distributed autonomous robotic systems 2”, Springer Science, 1996

G.P. Bădicioiu, A. Săvulescu, “Hardware implementation of a robot capable of detecting and extinguishing a flame”, unpublished

S. Barret, “Arduino microcontroller processing for everyone”, Third Edition, Morgan & Claypool Publishers, 2013

D. Brugali, “Software engineering for experimental robotics”, Springer – Verlag Berlin Heidelberg, 2007

M. Margolis, “Make an Arduino-controlled robot”, O’Reilly Media Inc., 2013

I. Noda, N. Ando, D. Brugali, J. Kuffner, “Simulation, modeling and programming for autonomous robots”, Springer – Verlag Berlin Heidelberg, 2012

A. Whitbrook, “Programming mobile robots with aria and player. A guide to C++ object oriented control”, Springer – Verlag London Limited, 2010

L. Joseph, “Learning Robotics Using Python”, Packt Publisher, Birmingham, 2015

J. Blum, “Exploring Arduino: tools and techniques for engineering wizardry”, John Wiley & Sons Inc., Indianopolis, 2013


  • There are currently no refbacks.

Copyright (c) 2019 Journal of Electrical Engineering, Electronics, Control and Computer Science

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.