Leakage localisation with a mobile robot carrying chemical sensors

被引：4

作者：

Wandel, M ^{[1
]}

Weimar, U ^{[1
]}

Lilienthal, A ^{[1
]}

Zell, A ^{[1
]}

机构：

[1] Univ Tubingen, ipc, D-72076 Tubingen, Germany

来源：

ICECS 2001: 8TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONICS, CIRCUITS AND SYSTEMS, VOLS I-III, CONFERENCE PROCEEDINGS | 2001年

关键词：

D O I：

10.1109/ICECS.2001.957441

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

On the way to an electronic watchman one more sense, i.e. gas sensing facilities are added to an autonomous mobile robot. For the gas detection up to eight metal oxides sensors are operated using a commercial sensor system. The robot is able to move and navigate autonomously. The geometric information is extracted from laser range finder data. This input is used to build up an internal map while driving. Using the new sense the localisation of a gas source in unventilated in-house environments is performed. First experiments in a one-dimensional case show a very good correlation between the peak and the gas source. The one-dimensional concentration profile is repeatedly recorded and stable for at least two hours. The two-dimensional experiments exhibit a circulation of the air within the room due to temperature and hence density effects. The latter is limiting the available recording time for the two-dimensional mapping.

引用

页码：1247 / 1250

页数：4