Autonomous Fire Monitor System – Initial Studies

In this paper, preliminary studies dedicated to facilitating the development of a control algorithm for an autonomous fire monitor have been presented. Using the Lagrange method, a dynamic model of the system has been determined, and two control algorithms have been verified. The applied adaptive algorithm yielded satisfactory regulation results, even when object parameters differed from the model by 10%. The manuscript also presents the hardware layer of the developed prototype, which consists of a fire monitor, a control system based on a programmable logic controller, and a vision system that enables the automatic localization of high temperature points in a 3D space.