SNIFFING A FIRE: SIMULATED EXPERIMENTS IN A REDUCED SCALE SCENARIO

This paper addresses the searching of indoor fires with mobile robots using olfactory information. An experimental environment and devices necessary to study maze searching algorithms using olfaction are described. A maze solving algorithm, taking into account the smoke direction is proposed and validated in a simulated scenario. A simulated Khepera III mobile robot equipped with an olfaction system and an infrared array is used in a set of trials searching small simulated fires inside a weakly ventilated maze with 4 × 3 meters.