This paper presents the experimental application of an autonomous mobile robot for gas leak detection in indoor environments. The application is focused to automatize a human-risky operation in indoor areas. The goal of the autonomous mobile robot is the localization of a toxic gas leak source. So, the mobile robot has to explore the whole area and perform an auto-localization procedure based on a SLAM method and a LIDAR sensor. The mobile robot measures gas concentration by using a photoionization detector. The experimentation was realized in a large indoor environment in a university facility with a simulated gas leak source. The combination of the results from the auto-localization procedure with the information of the sensors allows the estimation of the gas leak source location.


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    Titel :

    Experimental application of an autonomous mobile robot for gas leak detection in indoor environments


    Beteiligte:
    Martinez, Dani (Autor:in) / Moreno, Javier (Autor:in) / Tresanchez, Marcel (Autor:in) / Teixido, Merce (Autor:in) / Font, Davinia (Autor:in) / Pardo, Antonio (Autor:in) / Marco, Santiago (Autor:in) / Palacin, Jordi (Autor:in)


    Erscheinungsdatum :

    2014-07-01


    Format / Umfang :

    368805 byte



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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