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The aim of this study is to design and develop an autonomous fire proof rescue robot. The robot is designed in such a way, that it can traverse through fire and hazardous situations. Further, it will sense and communicate information regarding these situations in real time with the server. The robot is fixed with multi-sensors and further, a driver circuit has been integrated for communication in these hazardous situations through Zigbee and a data acquisition system (DAQ). In mechanical design first, a 3D solid model is generated using Solid works software to understand the basic structure of robot which provides information regarding robotic platform, size and location of various components. The developed fire fighting robot is a predominately outdoor ground-based mobile robotic system with onboard subdual systems that can traverse autonomously in the hazardous environment. The robot is designed such that it can traverse into the fire and send information regarding the fire behaviour and also the images of the victim's location by using a camera. Further, a mathematical model which describes the kinematics and dynamic behaviour of robot motion are done. V-REP is used to create the simulation of the robot in a fire simulated fire environment. Finally, for the path planning, various techniques are discussed such as V-REPs inbuilt path planning module, A*, Fuzzy logic and artificial potential fields.

Robot motion planning (RMP) develops a precise path between start and goal points for mobile robots in an unknown environment. RMP is a complex task when it needs to be planned for a group of robots in a coordinated environment with leader-follower relationship. The planned path might change depending upon the number of robots and the decision made. The decision made by each robot depends on the feedback received based on the subsequent action taken by other robots. In addition, the computational complexities depend upon factors such as communication between robots, the influence of moving obstacles and environment in which they are interacting. In order to explore further in the area of motion planning, it is felt that a comprehensive survey of available literature would support researchers working in RMP and hence the present paper. This paper reviews around 152 articles published in various international journals and conferences with more emphasis on articles published after 1960. In this work, recent activities carried out in the field of path planning for mobile robotics are critically evaluated and problems faced by the researchers are also highlighted. The focus is towards implementation of probabilistic algorithms, including Probabilistic Road Map and Simultaneous Localization and Mapping. Future research prospects in multi-robot path planning based on probabilistic approaches are also discussed.

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