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Advisor(s)
Abstract(s)
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.
Description
Keywords
Algorithm gas search Simulation Autonomous mobile robot LIDAR
Citation
Braun, João; Piardi, Luis; Brito, Thadeu; Lima, José; Pereira, Ana I.; Costa, Paulo; Nakano, Alberto (2020). Indoor environment monitoring in search of gas leakage by mobile robot. In 4th Iberian Robotics Conference, ROBOT 2019; Porto. p. 339-350. ISBN 978-303036149-5