Publicação
Indoor environment monitoring in search of gas leakage by mobile robot
| 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. |
|---|---|
| Autores principais: | Braun, João |
| Outros Autores: | Piardi, Luis; Brito, Thadeu; Lima, José; Pereira, Ana I.; Costa, Paulo Gomes da; Nakano, Alberto Yoshiro |
| Assunto: | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| Ano: | 2020 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867172780815941632 |
|---|---|
| author | Braun, João |
| author2 | Piardi, Luis Brito, Thadeu Lima, José Pereira, Ana I. Costa, Paulo Gomes da Nakano, Alberto Yoshiro |
| author2_role | author author author author author author |
| author_facet | Braun, João Piardi, Luis Brito, Thadeu Lima, José Pereira, Ana I. Costa, Paulo Gomes da Nakano, Alberto Yoshiro |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Braun, João\",\"Person.identifier.orcid\":\"0000-0003-0276-4314\"},{\"Person.name\":\"Piardi, Luis\",\"Person.identifier.orcid\":\"0000-0003-1627-8210\"},{\"Person.name\":\"Brito, Thadeu\",\"Person.identifier.orcid\":\"0000-0002-5962-0517\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"},{\"Person.name\":\"Pereira, Ana I.\",\"Person.identifier.orcid\":\"0000-0003-3803-2043\"},{\"Person.name\":\"Costa, Paulo Gomes da\"},{\"Person.name\":\"Nakano, Alberto Yoshiro\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Braun, João Piardi, Luis Brito, Thadeu Lima, José Pereira, Ana I. Costa, Paulo Gomes da Nakano, Alberto Yoshiro |
| datacite.date.Accepted.fl_str_mv | 2020-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2020-03-13T16:53:40Z |
| datacite.date.embargoed.fl_str_mv | 2020-03-13T16:53:40Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| datacite.titles.title.fl_str_mv | Indoor environment monitoring in search of gas leakage by mobile robot |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Braun, João Piardi, Luis Brito, Thadeu Lima, José Pereira, Ana I. Costa, Paulo Gomes da Nakano, Alberto Yoshiro |
| dc.date.Accepted.fl_str_mv | 2020-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2020-03-13T16:53:40Z |
| dc.date.embargoed.fl_str_mv | 2020-03-13T16:53:40Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/20989 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by-nc/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| dc.title.fl_str_mv | Indoor environment monitoring in search of gas leakage by mobile robot |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | 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. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/c97b5f0f-3626-4c9a-831d-a4e644e5ae90/download |
| id | ipb_8cb3a75e2c19bc46d696d221813d0f00 |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/20989 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/20989 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Braun, João Braun, João https://www.ciencia-id.pt/BF13-D66B-7D08 BF13-D66B-7D08 http://orcid.org/0000-0003-0276-4314 0000-0003-0276-4314 Piardi, Luis Piardi, Luis https://www.ciencia-id.pt/C51A-82DB-016F C51A-82DB-016F http://orcid.org/0000-0003-1627-8210 0000-0003-1627-8210 Brito, Thadeu Brito, Thadeu https://www.ciencia-id.pt/C911-A95D-712F C911-A95D-712F http://orcid.org/0000-0002-5962-0517 0000-0002-5962-0517 Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Pereira, Ana I. Pereira, Ana I. https://www.ciencia-id.pt/0716-B7C2-93E4 0716-B7C2-93E4 http://orcid.org/0000-0003-3803-2043 0000-0003-3803-2043 Costa, Paulo Gomes da Nakano, Alberto Yoshiro |
| publishDate | 2020 |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engpt_PTInspection 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.application/pdfpt_PTIndoor environment monitoring in search of gas leakage by mobile robotPersonalBraun, JoãoDSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4DSpacehttp://dspace.org/items/b8dfcbd7-1b89-48f3-afee-3e7d3f3c90d4BraunJoão A.Ciência IDhttps://www.ciencia-id.ptBF13-D66B-7D08ORCIDhttp://orcid.org0000-0003-0276-4314Scopus Author IDhttps://www.scopus.com57211244317PersonalPiardi, LuisDSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61DSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61PiardiLuísCiência IDhttps://www.ciencia-id.ptC51A-82DB-016FORCIDhttp://orcid.org0000-0003-1627-8210PersonalBrito, ThadeuDSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9DSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9BritoThadeuCiência IDhttps://www.ciencia-id.ptC911-A95D-712FORCIDhttp://orcid.org0000-0002-5962-0517Scopus Author IDhttps://www.scopus.com57200694948PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311PersonalPereira, Ana I.DSpacehttp://dspace.org/items/e9981d62-2a2b-4fef-b75e-c2a14b0e7846DSpacehttp://dspace.org/items/e9981d62-2a2b-4fef-b75e-c2a14b0e7846PereiraAna I.Ciência IDhttps://www.ciencia-id.pt0716-B7C2-93E4ORCIDhttp://orcid.org0000-0003-3803-2043Researcher IDhttps://www.researcherid.comF-3168-2010Scopus Author IDhttps://www.scopus.com15071961600Costa, Paulo Gomes daNakano, Alberto YoshiroHostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptISBNIsPartOf978-303036149-5DOIIsPartOf10.1007/978-3-030-36150-1_282020-03-13T16:53:40Z20202020-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/20989http://purl.org/coar/access_right/c_abf2open accessAlgorithm gas searchSimulationAutonomous mobile robotLIDAR6509001 bytesother research producthttp://purl.org/coar/resource_type/c_5794conference paper2020http://creativecommons.org/licenses/by-nc/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/c97b5f0f-3626-4c9a-831d-a4e644e5ae90/download4th Iberian Robotics Conference, ROBOT 20191093339350 |
| spellingShingle | Indoor environment monitoring in search of gas leakage by mobile robot Braun, João Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| status | SINGLETON |
| subject.fl_str_mv | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| title | Indoor environment monitoring in search of gas leakage by mobile robot |
| title_full | Indoor environment monitoring in search of gas leakage by mobile robot |
| title_fullStr | Indoor environment monitoring in search of gas leakage by mobile robot |
| title_full_unstemmed | Indoor environment monitoring in search of gas leakage by mobile robot |
| title_short | Indoor environment monitoring in search of gas leakage by mobile robot |
| title_sort | Indoor environment monitoring in search of gas leakage by mobile robot |
| topic | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| topic_facet | Algorithm gas search Simulation Autonomous mobile robot LIDAR |
| url | http://hdl.handle.net/10198/20989 |
| visible | 1 |