Environment monitoring in closed spaces using a mobile sensor platform

Environment monitoring is one of the main application types for wireless sensor networks. The first solution type consists off dropping a more or less dense field of wireless sensors in the monitored area. The second solution type uses a combination of static sensors and mobile elements. The third solution type is based on a mobile platform with the role of sensing and collecting the data. The solution from this paper can be included in the third type. A mobile platform, consisting in a wheeled robot, a sensing board and a notebook, follows a trajectory and senses and collects the data. The trajectory is preprogrammed but the robot is able to avoid obstacles and correct the trajectory accordingly.