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Indoor environment monitoring in search of gas leakage by mobile robot

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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

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