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
Full content URL: http://dx.doi.org/10.1016/j.robot.2004.05.002
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Item Type: | Article |
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Item Status: | Live Archive |
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
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 |
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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 On: | 22 Jun 2007 |
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