Abstract: Designed and developed an indoor intelligent fire-fighting robot, which is composed of lidar, mobile chassis, robotic arm, depth camera, thermal imaging depth camera, fire extinguishing agent nozzle, control box, etc. The robot is imposed with the functions of teleoperation, mapping, autonomous navigation, inspection, and fire extinguishing, and could navigate, as well as avoid obstacles automatically by sensing the surrounding environment. Fire-fighting robot adopts the improved A* algorithm for global path planning based on the fire alarm information, and the dynamic window method is employed to modify the local path planning.After reaching the fire alarm position, the robot uses the mechanical arm to adjust the nozzle of the fire extinguishing device, and achieving fire extinguishing by spray fire extinguishing agent at the fire source. Actual test results show that the designed robot has the advantages of maneuverability and stable performance, and can effectively complete the fire-fighting task.

Key words: indoor intelligent fire-fighting robot, route planning, improved A* algorithm, dynamic window method