Bir robot itfaiye simulasyonu yapmak istiyorum nasıl yapabilirim/I want to make a robot firefighter simulation, how can I do it?

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Kerem
Kerem 2025-6-1
回答： Sam Chak 2025-6-4
Simuling kısmı ile bir robot itfaiye tasarlamak istiyorum ancak nasıl yapacağımı bulamadım.
yapılacak tek şey ısı sensörleri tarafından alınan verilere göre yangın tespit edilip aracı o noktaya götürmek.
yalnızca simuling kısmı ile yapılıp bir slayt ile sunum yapacağım o kadar. yardım edebilirseniz şimdiden teşekkürler
I want to design a robot fire department with the simulation part but I couldn't figure out how to do it.
The only thing to do is to detect a fire according to the data received by the heat sensors and take the vehicle to that point.
I will only do the simulation part and make a presentation with a slide. Thanks in advance if you can help.

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回答（2 个）

Sam Chak
Sam Chak 2025-6-1
Hi @Kerem
To run the simulation effectively, you need the math to describe the following components:
  1. The environment.
  2. The dynamics of the rigid-body firefighting vehicle.
  3. The dynamics of the flexible manipulator firehose attached to the vehicle.
  4. The path planning algorithm (navigation for the vehicle to reach the hotspot).
  5. The steering control law for the vehicle (how to guide the vehicle to the hotspot).
  6. The collision avoidance algorithm (to detect obstacles along the vehicle's path).
  7. The aiming control law for the manipulator firehose.
  8. (Optional) If there are multiple hotspots, you will need a decision-making framework to determine which critical hotspot the firefighting robot should address first.
These are the considerations I can identify.
If you wish to enhance the delivery of an engaging keynote presentation on the firefighting robot concept but find no time to study the math, you can also "preset" the trajectory using simpler parametric equations for a "particle" (vehicle) to move within a two-dimensional Cartesian coordinate system toward the "destination" (hotspot). When the vehicle reaches the hotspot, display the water pressure icon, followed by the gradual fading of the fire icon on the presentation slide.
  2 个评论
Sam Chak
Sam Chak 2025-6-1
Hi @Kerem
I overlooked one important component: you also need to chemical reaction model to describe the shape of the flame. For a fire to ignite and continue burning, it requires three essential elements: (1) fuel, (2) heat, and (3) oxygen. While I am not a pyro physicist, you may find it useful to refer to the article titled "A Generic Flame Shape Model and Analytical Models for Geometric View Factor Calculation on the Fire Exposure Surface".
According to this blog, water can extinguish the fire by cooling the fuel, thereby removing the heat necessary for combustion, and by displacing the oxygen in the air, which prevents the fire from continuing to burn.
Kerem
Kerem 2025-6-2

Thank you for the information you provided, but for now I will only detect the fire with the heat sensor and take the vehicle to that point, and I will only do these as simulations. For example, I want to put the 'heat sensor data' taken from the internet into matLab and simulate the vehicle going to the hottest point or points in order according to this data.

I said this in the first message, but I think there was a mistake in the translation.

Verdiğin bilgiler için teşekkür ederim ancak şuan için yalnızca ısı sensörü ile yangını tespit edip aracı o noktaya götüreceğim ve bunları sadece simulasyon olarak yapacağım. Yani örneğin internetten alınmış 'ısı sensörü verilerini' matLab a atıp bu verilere göre en sıcak noktaya veya noktalara aracın sırayla gitmesini simuling ile yapmak istiyorum.

Bunu da ilk mesajda söylemiştim ama sanırım çeviri de bir hata oldu

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Sam Chak
Sam Chak 2025-6-4
Ran in:
Hi @Kerem
This is likely the simplest simulation of the fire engine's motion (represented as a particle) that I can guide you through. Any further complexity would require a mathematical research of the components I have listed above. The first three components are at the undergraduate level, the next three are at the master's level, and the final three (including the science of pyrotechnics) are multidisciplinary and they are at the PhD-level.
%% vehicle motion
function dx = firebot(t, x)
% vehicle
m = 1; % mass of the vehicle
% path planning
ref1 = ceil(1/4*t).*sign(sin(pi/2*t));
ref2 = ceil(1/4*(t - 1)).*sign(sin(pi/2*(t - 1)));
% steering control law (in Cartesian system)
wn = 5;
ux = m*(- 2*wn*x(3) - (wn^2)*(x(1) - ref1));
uy = m*(- 2*wn*x(4) - (wn^2)*(x(2) - ref2));
% ultra-simplified vehicle dynamics (in Cartesian system)
dx = zeros(4, 1);
dx(1) = x(3); % velocity with respect to x-axis
dx(2) = x(4); % velocity with respect to y-axis
dx(3) = ux/m; % acceleration with respect to x-axis
dx(4) = uy/m; % acceleration with respect to y-axis
end
%% simulate using ode45
[t, x] = ode45(@firebot, [0 25], [0; 0; 0; 0]);
xref = ceil(1/4*t).*sign(sin(pi/2*t));
yref = ceil(1/4*(t - 1)).*sign(sin(pi/2*(t - 1)));
%% plot results
figure
hold on
plot(x(:,1), x(:,2)), grid on
plot(0, 0, 'o')
plot(xref, yref, '--')
plot(xref(end), yref(end), 'o')
hold off
ylim([-8, 8])
axis equal
legend('FireBot', '', 'Google Map', '')
text(-0.5, 0.5, 'start')
text(6.25, -5, 'hotspot')
xlabel('x'), ylabel('y')
title('FireBot''s Motion Trajectory')
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