A Mobile Robot Agent for Gas Leak Source Detection

  • Dani Martínez
  • Tomàs Pallejà
  • Javier Moreno
  • Marcel Tresanchez
  • Mercè Teixidó
  • Davinia Font
  • Antonio Pardo
  • Santiago Marco
  • Jordi Palacín
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 293)

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.

Keywords

gas detection mobile robot agent laser sensor self-localization 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Dani Martínez
    • 1
  • Tomàs Pallejà
    • 1
  • Javier Moreno
    • 1
  • Marcel Tresanchez
    • 1
  • Mercè Teixidó
    • 1
  • Davinia Font
    • 1
  • Antonio Pardo
    • 2
  • Santiago Marco
    • 2
    • 3
  • Jordi Palacín
    • 1
  1. 1.Department of Computer Science and Industrial EngineeringUniversity of LleidaLleidaSpain
  2. 2.Department of ElectronicsUniversity of BarcelonaBarcelonaSpain
  3. 3.Signal and Information Processing for Sensing SystemsInstitute for BioEngineering of CataloniaBarcelonaSpain

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