| 1. |
- Lilienthal, Achim J., 1970-, et al.
(författare)
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Detection and Localization of an Odour Source by an autonomous mobile Robot
- 2002
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Ingår i: Robotik 2002. - Dusseldorf, Germany : V D I-V D E - VERLAG GMBH. - 3180916796 ; , s. 689-694
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Konferensbidrag (refereegranskat)abstract
- This paper presents studies concerning the use of an electronic nose on an autonomous mobile robot. In particular experiments were introduced in which a mobile robot generates two dimensional concentration maps of a known target gas in an unventilated room. It was shown that these concentration maps are clearly related to the position of the odour source. Moreover our results show that if accurate localization of the odour source itself is desired one has to consider weak air currents which usually occur even in closed unventilated rooms (often caused by convection).
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| 2. |
- Lilienthal, Achim J., 1970-, et al.
(författare)
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Experiences using gas sensors on an autonomous mobile robot
- 2001
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Ingår i: Proceedings of EUROBOT 2001, 4th European workshop on advanced mobile robots. ; , s. 1-8
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Konferensbidrag (refereegranskat)abstract
- This paper reports on experiences concerning the deployment of gas sensors on an autonomous mobile robot. It particularly addresses the suitability of the developed system to localize a distant odour source. First experiments were undertaken in which the robot was ordered to move along different weakly ventilated corridors, while keeping track of its center (framing a '1D' scenario). The measured sensor values show evident peaks that roughly indicate the location of the odour source, if the robot moves with a speed not too low. In this case the system proved to be well suited to detect even weak odour sources. Otherwise the observed course of the received values show many peaks hardly correlated with the location of the odour source. Several investigations were performed to clear up this behaviour but it is still not possible to make concluding statements about the reasons. Finally the setup to perform experiments in a '2D' scenario is described and concerning results of first investigations are presented. It was shown that the utilized system is also capable of detecting a distant odour source in a 2D environment and that the somewhat harder localization task has to account for some weak airflow even in closed, unventilated rooms.
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| 3. |
- Wandel, Michael R., et al.
(författare)
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Leakage localisation with a mobile robot carrying chemical sensors
- 2001
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Ingår i: The 8th IEEE international conference on electronics, circuits and systems. - Malta, Malta : IEEE. - 0780370570 ; , s. 1247-1250
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Konferensbidrag (refereegranskat)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
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