Braun, JoãoPiardi, LuisBrito, ThadeuLima, JoséPereira, Ana I.Costa, Paulo Gomes daNakano, Alberto Yoshiro2020-03-132020-03-132020Braun, 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 978-303036149-5978-303036149-5http://hdl.handle.net/10198/20989Inspection 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.engAlgorithm gas searchSimulationAutonomous mobile robotLIDARconference object10.1007/978-3-030-36150-1_28