Creating gas concentration gridmaps with a mobile robot

Lilienthal, A. and Duckett, T. (2003) Creating gas concentration gridmaps with a mobile robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)., 27-31 October 2003, Las Vegas, NV, USA.

Lilienthal_Duckett_2003-IROS03-Creating_Gas_Concentration_Gridmaps_with_a_Mobile_Robot_col.pdf - Whole Document

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
from the data collected by a mobile robot equipped with an electronic nose. By contrast to metric gridmaps extracted
from sonar or laser range scans, a single measurement of the electronic nose 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. This method is evaluated in terms of its suitability regarding the slow
response and recovery of the gas sensors. The stability of the mapped features and the capability to use concentration
gridmaps to locate a gas source are also discussed.

Keywords:Mobile robot olfaction, Robotic mapping, Electronic noses
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
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ID Code:29846
Deposited On:31 Jan 2018 16:47

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