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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Baetz, W., Kroll, A., Bonow, G.: Mobile robots with active IR-optical sensing for remote gas detection and source localization. In: 2009 IEEE International Conference on Robotics and Automation, pp. 2773–2778. IEEE (2009)
Kowadlo, G., Russell, R.A.: Robot odor localization: a taxonomy and survey. Int. J. Robot. Res. 27(8), 869–894 (2008)
Costa, P., Gonçalves, J., Lima, J., Malheiros, P.: SimTwo realistic simulator: a tool for the development and validation of robot software. Theory Appl. Math. Comput. Sci. 1(1), 17–33 (2011)
Wandel, M., Lilienthal, A.J., Duckett, T., Weimar, U., Zell, A.: Gas distribution in unventilated indoor environments inspected by a mobile robot. In: IEEE International Conference on Advanced Robotics, ICAR 2003, Coimbra, Portugal, 30 June - 3 July 2003, vol. 1, pp. 507–512. University of Coimbra (2003)
Marques, L., Martins, A., de Almeida, A.T.: Environmental monitoring with mobile robots. In: 2005 IEEE/RSJ International Conferene on Intelligent Robotics and Systems, pp. 3624–3629. IEEE (2005)
Trincavelli, M.: Gas discrimination for mobile robots. KI-Künstliche Intell. 25(4), 351–354 (2011)
Xing, Y., Vincent, T.A., Cole, M., Gardner, J.W., Fan, H., Bennetts, V.H., Schaffernicht, E., Lilienthal, A.J.: Mobile robot multi-sensor unit for unsupervised gas discrimination in uncontrolled environments. In: 2017 IEEE SENSORS (2017)
Zhu, P., Ferrari, S., Morelli, J., Linares, R., Doerr, B.: Scalable Gas sensing, mapping, and path planning via decentralized hilbert maps. Sensors 19(7), 1524 (2019)
Fan, H., Hernandez Bennetts, V., Schaffernicht, E., Lilienthal, A.J.: Towards gas discrimination and mapping in emergency response scenarios using a mobile robot with an electronic nose. Sensors 19(3), 685 (2019)
Lima, J., Costa, P.: Ultra-wideband time of flight based localization system and odometry fusion for a scanning 3 DoF magnetic field autonomous robot. In: Iberian Robotic Conference, pp. 879–890. Springer, Cham (2017)
Piardi, L.: Application of a mobile robot to spatial mapping of radioactive substances in indoor environment. Master’s thesis. IPB (2018)
Piardi, L., Lima, J., Costa, P.: Development of a ground truth localization system for wheeled mobile robots in indoor environments based on laser range-finder for low-cost systems. In: ICINCO, no. 2, pp. 351–358 (2018)
Braun, J., Brito, T., Lima, J., Costa, P., Costa, P., Nakano, A.: A Comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots. In: Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, vol. 1, pp. 398–405. SIMULTECH (2019). ISBN 978-989-758-381-0. https://doi.org/10.5220/0008118803980405
Lima, J., Gonçalves, J., Costa, P.J.: Modeling of a low cost laser scanner sensor. In: CONTROLO’2014–Proceedings of the 11th Portuguese Conference on Automatic Control, pp. 697–705. Springer, Cham (2015)
Siegwart, R., Nourbakhsh, I.R., Scaramuzza, D.: Introduction to Autonomous Mobile Robots. MIT Press, Cambridge (2011)
Sheikh, T.S., Afanasyev, I.M.: Stereo vision-based optimal path planning with stochastic maps for mobile robot navigation. In: International Conference on Intelligent Autonomous Systems, pp. 40–55. Springer, Cham (2018)
Piardi, L., Lima, J., Costa, P., Brito, T.: Development of a dynamic path for a toxic substances mapping mobile robot in industry environment. In: Iberian Robotic Conference, pp. 655–667. Springer, Cham (2017)
Crank, J.: The Mathematics of Diffusion. Oxford University Press, Oxford (1979)
Lima, J., Costa, P., Costa, P., Eckert, L., Piardi, L., Moreira, A., Nakano, A.: A* Search Algorithm Optimization Path Planning in Mobile Robots Scenarios. In: International Conference of Numerical Analysis and Applied Mthematics (2018)
Acknowledgements
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 – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Braun, J. et al. (2020). Indoor Environment Monitoring in Search of Gas Leakage by Mobile Robot. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_28
Download citation
DOI: https://doi.org/10.1007/978-3-030-36150-1_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-36149-5
Online ISBN: 978-3-030-36150-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)