Detalhes bibliográficos
| Resumo: | 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. |
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| Autores principais: | Braun, João |
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| Outros Autores: | Piardi, Luis; Brito, Thadeu; Lima, José; Pereira, Ana I.; Costa, Paulo Gomes da; Nakano, Alberto Yoshiro |
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| Assunto: | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
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| Ano: | 2020 |
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| País: | Portugal |
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| Tipo de documento: | comunicação em conferência |
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| Tipo de acesso: | acesso aberto |
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| Instituição associada: | Instituto Politécnico de Bragança |
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| Idioma: | inglês |
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| Origem: | Biblioteca Digital do IPB |
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