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

Author

Martinez, D. ; Moreno, J. ; Tresanchez, M. ; Teixido, M. ; Font, Davinia ; Pardo, Abelardo ; Marco, S. ; Palacin, J.

Author_Institution

Dept. of Comput. Sci. & Ind. Eng., Univ. of Lleida, Lleida, Spain

fYear

2014

fDate

7-10 July 2014

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

SLAM (robots); gas sensors; mobile robots; optical radar; photoionisation; robot vision; LIDAR sensor; SLAM method; auto-localization procedure; autonomous mobile robot; gas concentration; gas leak detection; gas leak source location; human-risky operation; indoor areas; indoor environments; photoionization detector; toxic gas leak source; university facility; Indoor environments; Laser radar; Mobile robots; Robot kinematics; Simultaneous localization and mapping; SLAM; exploration; gas detection; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Fusion (FUSION), 2014 17th International Conference on

Conference_Location

Salamanca

Type

conf

Filename

6916289