@inproceedings{scholars3129,
       publisher = {Elsevier Ltd},
          volume = {41},
         address = {Kuching, Sarawak},
         journal = {Procedia Engineering},
            year = {2012},
            note = {cited By 36; Conference of 2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 ; Conference Date: 4 September 2012 Through 6 September 2012; Conference Code:105172},
           title = {Autonomous fire fighting mobile platform},
           pages = {1145--1153},
             doi = {10.1016/j.proeng.2012.07.294},
        abstract = {Fire detection and extinguishment are the hazardous job that invariably put the life of a fire fighter in danger. By putting a mobile robot to perform this task in a fire-prone area, it can aid to avoid untoward incidents or the loss of lives. This paper describes the development of an Autonomous Fire Fighting Mobile Platform (AFFMP) that is equipped with the basic fighting equipment that can patrol through the hazardous site via a guiding track with the aim of early detection for fire. When the fire source is being identified, the flame will be promptly extinguished using the fire extinguishing system that is mounted on its platform. The patrolling movement is guided by a set of lines with the use of a conventional line following algorithm but with the addition of a homing algorithm. The tasks for the AFFMP once it navigates out of the patrolling route include the obstacle avoidance, locating for more precise location of fire source using front flame sensor and extinguish the fire flame. To detect for fire source, the input from flame sensors were finely-tuned in relation to the surrounding area, external interference and the mobility of the AFFMP prior the deployment of the platform. Development work done to date on the platform has shown its feasibility of being an autonomous unit to monitor a prescribed area, detect for fire and extinguish the flame. {\^A}{\copyright} 2012 Published by Elsevier Ltd.},
          author = {Khoon, T. N. and Sebastian, P. and Saman, A. B. S.},
            issn = {18777058},
             url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84883738943&doi=10.1016\%2fj.proeng.2012.07.294&partnerID=40&md5=45cc84a7203463d00b8549ea779ceb0c}
}