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Publication
Multi-mobile robot and avoidance obstacle to spatial mapping in indoor environment
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Advisor(s)
Abstract(s)
The advancement of technology and techniques applied to robotics contributes to increasing the quality of life
and safety of humanity. One of the most widespread applications of mobile robotics is related to monitoring
indoor environments. However, due to factors such as the size of the environment impacting the monitoring
response, battery autonomy, and autonomous navigation in environments with unknown obstacles, they are
still significant challenges in the diffusion of mobile robotics in these areas. Strategy adopting multiple robots
can overcome these challenges. This work presents an approach to use multi-robots in hazardous environments
with gas leakage to perform spatial mapping of the gas concentration. Obstacles arranged in the environment
are unknown to robots, then a fuzzy control approach is used to avoid the collision. As a result of this paper,
spatial mapping of an indoor environment was carried out with multi-robots that reactively react to unknown
obstacles considering a point gas leak with Gaussian dispersion.
Description
Keywords
Autonomous mobile robot Gas sources detection Avoidance obstacle Fuzzy control
Pedagogical Context
Citation
Piardi, Luis; Lima, José; Oliveira, Andre Schneider (2021). Multi-mobile robot and avoidance obstacle to spatial mapping in indoor environment. In 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2021. p. 21-29. ISBN 978-989-758-528-9