The use of robots in situations that can be too dangerous for human intervention is growing. One such use is the deployment of robots for firefighting. In a fire breakout the firefighters are restricted to go near the fire as the intensity of the fire is high in some cases. In order to overcome this situation, an autonomous firefighting robot is designed to find a fire, before it rages out of control. It could be used to work with fire fighters to reduce the risk of injury to victims.