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

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-coolingmonorail vehicle carrying a fire fightingmonitor.A fuzzy inference system is adopted for the automatic generationof 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.