Indoor Environment Monitoring in Search of Gas Leakage by Mobile Robot

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

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

Ata de Conferência Internacional

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

Páginas: 339-350

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

Porto, PORTUGAL, NOV 20-22, 2019

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 8 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12