A mobile robot agent for gas leak source detection

View/ Open
Issue date
2014Author
Moreno Blanc, Javier
Pardo, Antonio
Marco, Santiago
Suggested citation
Martínez Lacasa, Daniel;
Pallejà Cabrè, Tomàs;
Moreno Blanc, Javier;
Tresánchez Ribes, Marcel;
Teixidó Cairol, Mercè;
Font Calafell, Davinia;
...
Palacín Roca, Jordi.
(2014)
.
A mobile robot agent for gas leak source detection.
Advances in Intelligent Systems and Computing, 2014, vol. 293, p. 19-25.
https://doi.org/10.1007/978-3-319-07476-4_3.
Metadata
Show full item recordAbstract
This paper presents an autonomous agent for gas leak source detec-tion. 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 in-formation 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.