Abstract
This paper presents an autonomous agent for gas leak source detection. The main objective of the robot is to estimate the localization of the gas leak source in an indoor environment without any human intervention. The agent implements an SLAM procedure to scan and map the indoor area. The mobile robot samples gas concentrations with a gas and a wind sensor in order to estimate the source of the gas leak. The mobile robot agent will use the information obtained from the onboard sensors in order to define an efficient scanning path. This paper describes the measurement results obtained in a long corridor with a gas leak source placed close to a wall.
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Martínez, D. et al. (2014). A Mobile Robot Agent for Gas Leak Source Detection. In: Bajo Perez, J., et al. Trends in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection. Advances in Intelligent Systems and Computing, vol 293. Springer, Cham. https://doi.org/10.1007/978-3-319-07476-4_3
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DOI: https://doi.org/10.1007/978-3-319-07476-4_3
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-07475-7
Online ISBN: 978-3-319-07476-4
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