GEOMETRICAL AND KINEMATICAL CONTROL FUNCTIONS FOR A MOBILE ROBOT USED IN EXTINGUISHING FIRES

In the last decades, the mobile robots are probably the most spectacular and representative category of robotic systems, especially due to the attempt to copy and approach models from the living world. One adjacent area to the use of robots is preventing and fire-fighting, recently, in developed countries; mobile systems are used to detect, isolate and extinguish fires in excessively toxic environments, as well as to rescue the victims of such disasters. In the paper are presented in analytical form, the control functions for geometry and kinematics for a proposed mobile prototype, having mounted water cannon