Research on the Kinematic Control of Fire Extinguishing Jet for Autonomous Firefighting

doi:10.3901/JME.2025.10.450

Abstract

Abstract: A kinematic model-based fire extinguishing jet control method is proposed for autonomous firefightin. The jet continuum is discretized into joint variables, and a jet kinematic model is derived. To address the problem of nonlinear relationships caused by strong coupling of multiple factors in the modeling process of fire extinguishing jet, a trajectory prediction model based on ARIMA and LSTM is established. Considering the problem of obstacle interference in the actual process, the initial population distribution and next generation population determination method of the fireworks algorithm are reconstructed, and the inverse kinematics solution of the jet driven joint under obstacle constraints is achieved. A joint dynamics model considering dead zone characteristics and injection reaction force is established, and an angle tracking sliding mode controller based on radial basis network observer is designed to achieve robust tracking control of the desired angle. Verification experiments are conducted on actual fire extinguishing robots. The results show that the prediction accuracy of the fire jet trajectory model is superior to LSTM, ARIMA, and explicit models. The control accuracy of the joint angle tracking control algorithm is higher than that of existing PD, fuzzy control, and linear self disturbance rejection controllers. In the testing of autonomous fire extinguishing operations, the proposed method has better fire point strike accuracy than existing methods.

Key words: autonomous firefighting operations, kinematic model of fire extinguishing jet, trajectory model of fire extinguishing jet, control of fire extinguishing jet, ARIMA-LSTM

CLC Number:

TP273

PAN Lu, ZHU Jinsong, CHEN Zhengsheng, LIU Zhongguan, ZHAO Juxian, LI Wei. Research on the Kinematic Control of Fire Extinguishing Jet for Autonomous Firefighting[J]. Journal of Mechanical Engineering, 2025, 61(10): 450-463.

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