Building gas concentration gridmaps with a mobile robot

Lilienthal, Achim and Duckett, Tom (2004) Building gas concentration gridmaps with a mobile robot. Robotics and Autonomous Systems, 48 (1). pp. 3-16. ISSN 0921-8890

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Full text URL: http://dx.doi.org/10.1016/j.robot.2004.05.002

Abstract

This paper addresses the problem of mapping the structure of a gas distribution by creating concentration gridmaps from the data collected by a mobile robot equipped with gas sensors. By contrast to metric gridmaps extracted from sonar or laser range scans, a single measurement from a gas sensor provides information about a comparatively small area. To overcome this problem, a mapping technique is introduced that uses a Gaussian weighting function to model the decreasing likelihood that a particular reading represents the true concentration with respect to the distance from the point of measurement. This method is evaluated in terms of its suitability regarding the slow response and recovery of the gas sensors, and experimental comparisons of different exploration strategies are presented. The stability of the mapped structures and the capability to use concentration gridmaps to locate a gas source are also discussed

Item Type:Article
Additional Information:This paper addresses the problem of mapping the structure of a gas distribution by creating concentration gridmaps from the data collected by a mobile robot equipped with gas sensors. By contrast to metric gridmaps extracted from sonar or laser range scans, a single measurement from a gas sensor provides information about a comparatively small area. To overcome this problem, a mapping technique is introduced that uses a Gaussian weighting function to model the decreasing likelihood that a particular reading represents the true concentration with respect to the distance from the point of measurement. This method is evaluated in terms of its suitability regarding the slow response and recovery of the gas sensors, and experimental comparisons of different exploration strategies are presented. The stability of the mapped structures and the capability to use concentration gridmaps to locate a gas source are also discussed
Keywords:Mobile nose, mobile robotics, Gas distribution mapping, Gas source localisation
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:657
Deposited By: Bev Jones
Deposited On:22 Jun 2007
Last Modified:18 Jul 2011 16:12

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