On the way to developing an electronic watchman one more sense, i.e. gas sensing facilities, are added to an autonomous mobile robot. For the gas detection, up to eight metal oxide sensors are operated using a commercial sensor system. The robot is able to move and navigate autonomously. The geometric information is extracted from laser range finder data. This input is used to build up an internal map while driving. Using the new sensor the localisation of a gas source in unventilated in-house environments is performed. First experiments in a one-dimensional case show a very good correlation between the peak and the gas source. The one-dimensional concentration profile is repeatedly recorded and stable for at least two hours. The two-dimensional experiments exhibit a circulation of the air within the room due to temperature and hence density effects. The latter is limiting the available recording time for the two-dimensional mapping.
@inproceedings{2001_173,
author = {Wandel, Michael R. and Weimar, Udo and Lilienthal, Achim and Zell,
Andreas},
title = {{Leakage Localisation with a Mobile Robot Carrying Chemical Sensors}},
booktitle = {The 8\textsuperscript{th} IEEE International Conference on Electronics,
Circuits, and Systems (ICECS 2001)},
year = {2001},
volume = {3},
pages = {1247--1250},
address = {Malta},
month = sep,
publisher = {IEEE Press},
abstract = {On the way to developing an electronic watchman one more sense, i.e.
gas sensing facilities, are added to an autonomous mobile robot.
For the gas detection, up to eight metal oxide sensors are operated
using a commercial sensor system. The robot is able to move and navigate
autonomously. The geometric information is extracted from laser range
finder data. This input is used to build up an internal map while
driving. Using the new sensor the localisation of a gas source in
unventilated in-house environments is performed. First experiments
in a one-dimensional case show a very good correlation between the
peak and the gas source. The one-dimensional concentration profile
is repeatedly recorded and stable for at least two hours. The two-dimensional
experiments exhibit a circulation of the air within the room due
to temperature and hence density effects. The latter is limiting
the available recording time for the two-dimensional mapping.},
doi = {10.1109/ICECS.2001.957441},
isbn = {0-7803-7057-0},
keywords = {electric sensing devices , gas sensors , mobile robots , sensor fusion},
url = {http://dx.doi.org/10.1109/ICECS.2001.957441}
}