Fire Fighting Robot for Tunnel Environment

This paper presented the design, implementation, and experimental validation of an autonomous firefighting robot tailored for tunnel environments. The system successfully integrates flame sensing, MQ-2-based smoke and gas detection, ultrasonic obstacle avoidance, NodeMCU-driven wireless control, ESP32-CAM live video streaming, and relay-actuated water pump suppression into a single compact mobile platform. Key performance metrics — an average end-to-end suppression response time of 4.2 seconds, 100% flame detection up to 60 cm, 90% obstacle avoidance success, and stable 8 fps video streaming — confirm the practical utility of the platform. The proposed robot reduces the need for human entry into hazardous tunnel fire zones, thereby safeguarding emergency personnel. Future enhancements will explore the integration of LiDAR-based mapping for autonomous long-range tunnel navigation, incorporation of a CO sensor (MQ-7) for improved gas classification, deployment of a mesh Wi-Fi backbone to extend operational range beyond single access-point coverage, and the use of thermal imaging to locate fire zones through dense smoke where optical flame sensors become unreliable.  

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