Intelligent Service Robotics

, Volume 1, Issue 1, pp 41–49 | Cite as

A unified fuzzy logic approach to trajectory planning and inverse kinematics for a fire fighting robot operating in tunnels

  • A. De Santis
  • B. Siciliano
  • L. Villani
Original Research


In this paper a fuzzy logic approach to automatic trajectory planning and closed-loop inverse kinematics for a robotic system purposely designed to extinguish fires in road and railway tunnels is presented. The robot is composed of a self-cooling monorail vehicle carrying a fire fighting monitor. A fuzzy inference system is adopted for the automatic generation of the task-space trajectory for the robot and to distribute the motion among the available joints in the presence of redundant degrees of mobility. Redundancy also allows assigning additional tasks besides the primary task. Simulation case studies are presented to test the performance of the whole system in a typical intervention scenario.


Rescue robotics Fire fighting Inverse kinematics Fuzzy inference system Redundancy 


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Copyright information

© Springer-Verlag 2007

Authors and Affiliations

  1. 1.PRISMA Lab, Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly

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