Lilienthal, Achim and Duckett, Tom (2003) Gas source localisation by constructing concentration gridmaps with a mobile robot. In: First European Conference on Mobile Robots (ECMR 2003, September 2003, Radziejowice, Poland.
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|Item Type:||Conference or Workshop contribution (Paper)|
|Item Status:||Live Archive|
This paper addresses the problem of mapping the features of a gas distribution by creating concentration gridmaps with a mobile robot equipped with a gas-sensitive system ("mobile nose"). By contrast to metric gridmaps extracted from sonar or laser range scans, a gas sensor measurement provides information about a comparatively small area. To overcome this problem, a mapping technique is introduced that uses a Gaussian density function to model the decreasing likelihood that a particular reading represents the true concentration with respect to the distance from the point of measurement. The structure of the mapped features is discussed with respect to the parameters of the applied density function, the evolution of the gas distribution over time, and the capability to locate a gas source.
|Keywords:||Gas distribution mapping, Gas source localisation, mobile robot, Mobile nose|
|Subjects:||G Mathematical and Computer Sciences > G400 Computer Science|
|Divisions:||College of Science > School of Computer Science|
|Deposited On:||08 Aug 2014 10:01|
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