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.
CITATION STYLE
Braun, J., Piardi, L., Brito, T., Lima, J., Pereira, A., Costa, P., & Nakano, A. (2020). Indoor Environment Monitoring in Search of Gas Leakage by Mobile Robot. In Advances in Intelligent Systems and Computing (Vol. 1093 AISC, pp. 339–350). Springer. https://doi.org/10.1007/978-3-030-36150-1_28
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