Abstract: In the indoor structural space system, the early fire alarm is realized by means of vision, three band detection and laser smoke sensing. The path planning is completed by the supporting autonomous mobile firefighting robot, which carries the scene suitable fire extinguishing agent to the ignition point to implement the active firefighting. The design of this system can nip the fire in the bud and minimize the loss. Whether the robot can reach the fire point in the shortest time mainly depends on the algorithm of path planning. Therefore, ant colony algorithm and A* algorithm are studied. Finally, the optimal path planning of the robot is realized by improved A* algorithm. The task is based on LabVIEW software to complete the system development, and the function test is carried out in the laboratory field, so as to achieve the goal of robot active fire protection in the unattended situation.

Key words: fire- fighting robot, unattended, ant colony algorithm;A* algorithm