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108
1 INTRODUCTION
Nowadays the likelihood of occurrence of forest fire is weatherconditionslikemistwillhavepoorvisibilityand
steadilygrowingbecauseofchangeinclimateduetocut life on the tower is miserable. In order to surmount the
down of trees in forest for various reasons such as Land disadvantagesfacedbyabovemethodssomevisiontech
for shelter, Land for cultivation and killing of dangerous niques such as Automatic Video Surveillance systems
wildlife animals which pose threat to human lives. The were proposed to monitor small forest. Some of the fire
Forest Survey of India reports that actual forest cover of detection mechanisms such as AVHRR and MRIS which
India is 19.27% of the geographic area corresponding to are based on satellite images are also proposed. But the
63.3 million hectare [1]. It is also estimated that the pro long scan period and low resolution of images reduces
portionofforestareaspronetoforestfiresannuallyrang the effectiveness of satellite based forest fire detection
esfrom33%insomestatestoover90%inothers[1].The mechanismsbecausefiredetectionisverylateandbythat
forestfireseasoninIndiaisusuallyfromFebruarytoMid time fire is detected it may have grown large [4] and
June. An estimated annual economic loss of 400 Crore some of the of resources might have been destroyed. In
rupees is reported on account of forest fires over the ordertoovercomethedifficultiesassociatedwithsatellite
country.Henceitisessentialthatresearchactivitiesmust imagebased mechanisms manyworks havebeenreport
be carried out for forest fire detection and extinguishing ed [5,6] using WSNs because sensory information can
in order to save valuable resources, environment and provide a more comprehensive forest fire monitoring
economyofthecountry.Modelingfiresisusedtounder withafinergrainedspatialandtemporalresolution.Also
stand and predict fire behavior without getting burned sensor nodes can be deployed in regions where there is
[2].InAntiquedaysfiredetectioniscarriedoutvisiblyby nosatellitesignal.Mostoftheworksreportedintheliter
the forest guard who were walking along predefined atureareconcernedwithdetectionoffiresbasedonsimu
pathsalsocalledgroundpatrollingandalsobyforestde lationorusingrealtestbedEnvironments[6].Recentad
partmentpersonnelemployedonthelookouttowersfor vancements in technology have lead tothe emergence of
keeping a vigil in the forest area through binoculars [3]. distributedWirelessSensorandActorNetworks[7].In[8]
Inbothcasesinformationisgiventothecontrolroomand forest fire detection and extinguishing using WSAN was
appropriateactionswillbetaken.Alsoboththemethods proposed. In this paper we have presented a Grid based
are not reliable because the path may get damaged, bad model based on matrix coordinates where each cell of a
grid contains one sensor positioned at the center and a
Path Planning algorithm for theActor to extinguish fire.
20.ThePathcalculatedbytheActorisshownusingaLine
incyancolor.
109
(1,1)
(1,2)
(1,n-1)
(1,n)
(2,1)
(2,2)
(2,n-1)
(2,n)
(m-1,1)
(m-1,2)
(m-1,n-1)
(m-1,n)
(m,1
(m,2)
(m,n-1)
(m,n)
8
5
7
6
3.ForestFireExtinguishingModel
In this work we have explored the use of WSANs in de
tecting and extinguishing forest fires. The automatic for
est fire detection and extinguishing system consists of
nodes deployed deterministically in a forest area and all
thenodesknowtheirlocationbasedoncoordinatevalues
of a matrix. Each node is equipped with a temperature
sensorandanOmnidirectionalantenna.Nodescontinu
ouslymonitortheenvironmenttocheckifthereisfireor
notintheparticularcell.Whenchangeintemperaturei.e.
temperature raises above a certain threshold, is detected
by a particular node they send message packets which
contain location measurements. These packets are re
ceived by one of the corner node. The corner node then
sends the packet to theActor which in turn will process
thepacketwhichcan beusedinreaching thetargetarea
toextinguishfire.
Sincethefocusofthisworkismainlyonforestfiredetec
tion and extinguishing mechanism we assume that mes
sagescommunicatedhasreachedthecorrespondingdes
tinationssafelyandifmorethanonenodeissendingthe
samemessage,themessagesentbythefirstnodeiscon
sidered and rest of them are ignored. The Fundamental
taskstobeconsideredinachievingthisareclassifiedinto
following
a.SensorDeploymentandCoverage
b.CommunicationbetweenNodes
c.PathplanningfortheActor
110
7.
8.
(xsxg<0)and(ysyg)=0)
(xsxg<0)and(ysyg)<0)
Direction it has to
move
Right
DiagonalUpRight
Up
DiagonalUpLeft
Left
Diagonal
Down
Right
Down
Diagonal
Down
Left
elseif((xsxg>0)and(ysyg)=0))then
MoveUp
elseif((xsxg>0)and(ysyg)>0))then
MoveDiagonalUpLeft
elseif((xsxg=0)and(ysyg)<0))then
MoveLeft
elseif((xsxg<0)and(ysyg)>0))then
MoveDiagonalDownRight
elseif((xsxg<0)and(ysyg)=0))then
MoveDown
elseif((xsxg<0)and(ysyg)<0))then
MoveDiagonalDownLeft
endif
endif
endif
endif
endif
endif
end
Step4:StoptheActorandstartextinguishfire.
111
endif
break
Case5:if(O[xs+1,ys1]!=1)then
MoveDiagonalDownRight
else
Callfreespacesearch(xs,ys,5)
endif
break
Case6:if(O[xs+1,ys]!=1)then
MoveDown
else
Callfreespacesearch(xs,ys,6)
endif
break
Case7:if(O[xs+1,ys+1]!=1)then
MoveDiagonalDownLeft
else
Callfreespacesearch(xs,ys,7)
endif
break
Case8:if(O[xs,ys+1]!=1)then
MoveRight
else
Callfreespacesearch(xs,ys,8)
endif
break
}
}while((xsxg!=0)and(ysyg!=0))
Step4:StoptheActorandstartextinguishfire.
3.3.2.1Procedure direction
Thisprocedureisusedtodeterminethedirectiontheac
tor has to move based on start and goal coordinates. It
willreturnanintegervaluebasedonthedirectionithas
tomove.
intdirection(xs,xg,ys,yg)
{
if((xsxg>0)and(ysyg)<0))then
return1
elseif((xsxg>0)and(ysyg)=0))then
return2
elseif((xsxg>0)and(ysyg)>0))then
return3
elseif((xsxg=0)and(ysyg)>0))then
return4
elseif((xsxg<0)and(ysyg)>0))then
return5
elseif((xsxg<0)and(ysyg)=0))then
return6
elseif((xsxg<0)and(ysyg)<0))then
return7
elseif((xsxg=0)and(ysyg<0))then
return8
endif
endif
endif
endif
endif
endif
end
}
3.3.2.1Procedure freespacesearch
This procedure is used to determine the cell which does
notcontainanobstacleifthenextmoveoftheactortothe
cell contains an obstacle. It takes three arguments the s
which refers to x coordinate, f which refers to y coordi
nateandeisthedirectionfromthecurrentcellinwhich
checkforobstacleismadeandcellcontainedanobstacle.
Therefore we perform free space search i.e. finding the
next cell which is free without any obstacle in the anti
clockwisedirectionusingtheprocedureshownbelow.
freespacesearch(s,f,e)
{
switch(t)
{
Case1:if(O[xs1,ys+1]!=1)then
xs=xs1
ys=ys+1
Movetoxs,ys
return
break
Case2:if(O[xs1,ys]!=1)then
xs=xs1
Movetoxs,ys
return
break
Case3:if(O[xs1,ys1]!=1)then
xs=xs1
ys=ys1
return
break
Case4:if(O[xs,ys1]!=1)then
ys=ys1
Movetoxs,ys
return
break
Case5:if(O[xs+1,ys1]!=1)then
xs=xs+1
ys=ys1
Movetoxs,ys
return
break
Case6:if(O[xs+1,ys]!=1)then
xs=xs+1
Movetoxs,ys
return
break
Case7:if(O[xs+1,ys+1]!=1)then
112
xs=xs+1
ys=ys+1
Movetoxs,ys
return
break
Case8:if(O[xs,ys+1]!=1)then
ys=ys+1
Movetoxs,ys
return
break
Default:Nopathfortherobottomove
exit
}
}
4. Simulation results
113
obstacles.Wehaveusedjavaforsimulationpurposes.We wards the target area and also the time taken for the
createda20x20grid.Theactorisrepresentedbyagreen rotationofrobotinordertoperformnextmove.
oval located at the center, the cells containing obstacles
are represented using yellow and the cell where fire oc 6. References
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5. Conclusion
Inthispaperwehavepresentedapathplanningalgo
rithmfortheactortomovetothetargetareatoextin
guish fire. In this work we have assumed that robot
can move in all directions without any rotation of ro
bot.i.e.iftherobotisfacingtowardseastandthenext
movement it has to make is towards north then robot
hastodosomeadjustmentsothatitcanturntowards
north first and then move towards the cell. We have
considered only 9 obstacles for 20 x 20 environments.
Thissimulationwillworkforanynumberofobstacles
placed in any position. In this work we have consid
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andalsoconsidertimetakenfortherobottomoveto
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