Publication
Indoor environment monitoring in search of gas leakage by mobile robot
| dc.contributor.author | Braun, João | |
| dc.contributor.author | Piardi, Luis | |
| dc.contributor.author | Brito, Thadeu | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Pereira, Ana I. | |
| dc.contributor.author | Costa, Paulo Gomes da | |
| dc.contributor.author | Nakano, Alberto Yoshiro | |
| dc.date.accessioned | 2020-03-13T16:53:40Z | |
| dc.date.available | 2020-03-13T16:53:40Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | This work is financed by the ERDF - European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation- COMPETE 2020 Programme within project (POCI-01-0145-FEDER- 006961), and by National Funds through the FCT - Funda~ao para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.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 | pt_PT |
| dc.identifier.doi | 10.1007/978-3-030-36150-1_28 | pt_PT |
| dc.identifier.isbn | 978-303036149-5 | |
| dc.identifier.uri | http://hdl.handle.net/10198/20989 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc/4.0/ | pt_PT |
| dc.subject | Algorithm gas search | pt_PT |
| dc.subject | Simulation | pt_PT |
| dc.subject | Autonomous mobile robot | pt_PT |
| dc.subject | LIDAR | pt_PT |
| dc.title | Indoor environment monitoring in search of gas leakage by mobile robot | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/5876/UID%2FEEA%2F50014%2F2013/PT | |
| oaire.citation.endPage | 350 | pt_PT |
| oaire.citation.startPage | 339 | pt_PT |
| oaire.citation.title | 4th Iberian Robotics Conference, ROBOT 2019 | pt_PT |
| oaire.citation.volume | 1093 | pt_PT |
| oaire.fundingStream | 5876 | |
| person.familyName | Braun | |
| person.familyName | Piardi | |
| person.familyName | Brito | |
| person.familyName | Lima | |
| person.familyName | Pereira | |
| person.givenName | João A. | |
| person.givenName | Luís | |
| person.givenName | Thadeu | |
| person.givenName | José | |
| person.givenName | Ana I. | |
| person.identifier | BjSISEAAAAAJ | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | BF13-D66B-7D08 | |
| person.identifier.ciencia-id | C51A-82DB-016F | |
| person.identifier.ciencia-id | C911-A95D-712F | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.ciencia-id | 0716-B7C2-93E4 | |
| person.identifier.orcid | 0000-0003-0276-4314 | |
| person.identifier.orcid | 0000-0003-1627-8210 | |
| person.identifier.orcid | 0000-0002-5962-0517 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.orcid | 0000-0003-3803-2043 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.rid | F-3168-2010 | |
| person.identifier.scopus-author-id | 57211244317 | |
| person.identifier.scopus-author-id | 57200694948 | |
| person.identifier.scopus-author-id | 55851941311 | |
| person.identifier.scopus-author-id | 15071961600 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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