Indoor Environment Monitoring in Search of Gas Leakage by Mobile Robot

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Braun, J (Author) Other; Piardi, L (Author) Other; Brito, T (Author) Other; Lima, J (Author) Other; Pereira, A (Author) Other; Paulo Gomes da Costa (Author) FEUP; Nakano, A (Author) Other

Conference proceedings International

Title: FOURTH IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, ROBOT 2019, VOL 2

Pages: 339-350

4th Iberian Robotics Conference (Robot) - Advances in Robotics

Porto, PORTUGAL, NOV 20-22, 2019

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 7 Citations

Other information

Authenticus ID: P-00R-QNW

DOI: 10.1007/978-3-030-36150-1_28

Abstract (EN): Inspection based on mobile autonomous robots can assume an important role in many industries. Instead of having fixed sensors, the concept of assembling the sensors on a mobile robot that performs the scanning and inspection through a defined path is cheaper, configurable and adaptable. This paper describes a mobile robot, equipped with several gas sensors and a LIDAR device, that scans an established area by following a trajectory based on way-points searching for gas leakage and simultaneously avoid obstacles in the map. In other words, the robot follows the trajectory while the gas concentration is under a defined value and surrounding the obstacles. Otherwise, the autonomous robot starts the leakage search based on a search algorithm that allows to find the leakage position. The proposed methodology is verified in simulation based on a model of the real robot. The search test performed in a simulation environment allows to validate the proposed methodology.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12