Multi-mobile Robot and Avoidance Obstacle to Spatial Mapping in Indoor Environment

被引：1
作者：
Piardi, Luis [1 ,2 ]
Lima, Jose [1 ,3 ]
de Oliveira, Andre Schneider [2 ]
机构：
[1] Inst Politecn Braganca, Res Ctr Digitalizat & Intelligent Robot CeDRI, Campus Santa Apolonia, P-5300253 Braganca, Portugal
[2] Univ Tecnol Fed Parana UTFPR, Ave Sete Setembro 3165, BR-80230901 Curitiba, Parana, Brazil
[3] INESC, Technol & Sci, Porto, Portugal
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON SIMULATION AND MODELING METHODOLOGIES, TECHNOLOGIES AND APPLICATIONS (SIMULTECH) | 2021年
关键词：
Autonomous Mobile Robot; Gas Sources Detection; Avoidance Obstacle; Fuzzy Control;
D O I：
10.5220/0010509200210029
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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.
引用
收藏
页码：21 / 29
页数：9
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