A HUMANOID ROBOT FOR FIRE AND HIDDEN OBJECT DETECTION WITH 3D VISUALIZATION TECHNIQUES

Author (s) : N.Savitha and V.Priya

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Abstract :
The objective of this paper is to detect fire and hidden object detection with 3D visualization techniques by using three sensors.  The three sensors are Temperature sensor, IR sensor and PIR sensor. The temperature sensor is used to detect the temperature of the flame, Infrared sensor is used to detect the obstacles  and  Pyro  electric  body  sensor  is  used  to  detect  the human body. It uses CCD camera to view the 3D object. All these parts are attached to the I/O port of the PIC16F877A microcontroller.  The system uses a Kalman filter method, covariance based method and multi attribute utility method. The Kalman  filter  method  is  used  for  guidance,  navigation,  control and  target  tracking  of  robots.  The  covariance  based  algorithm to  improve  the  performance  of sensor  signal  and  distance measurement of sensor to object. In Multi Attribute Utility, four techniques are used to compute the object.  They  are  Utility visibility  (Uvis)  to  detect  the  amount  of  visibility  of  objects, Utility  stealth  (Ust)  are  used  to  find  maximum  visibility  of  the sensor and its ratio of utility, Utility cost (Ucost) is to compute the  financial  cost,  placement  cost  of  sensors  and  Permeably values  are  used  to  find  the  density  of  the  object.  These, the Human Robot are to detect the hidden human body and obtain a 3D view of the human body.

Keywords : Ensors, Microcontroller, Multi attribute theory, Kalman filter method, Covariance method

Conference Date : 30/08/2019

Pages : 19

Paper ID : 19018