Mobile Robot-Based Measuring and Mapping of Gas Distribution in Surface Soil

Abstract

Laws and policies require that landfills and disposal sites be monitored to protect public health and safety from potential explosion hazards owing to underground gas migration and diffusion. This paper aims to measure and map gas distribution in surface soil. Since some current algorithms have their own advantages and disadvantages, several methods are integrated into a compound algorithm to measure gas concentration, to track odour and localize gas source. Simulations are performed to validate the availability of the proposed method. To be aware of whole gas distribution field, a mobile robot governed by the proposed method measured the concentration values step by step and generated a sequence of small concentration maps. Then by revolving the small maps the whole gas concentration map is built. Results demonstrated that the mapped gas concentration field is satisfied.