Abstract
Mobile olfactory robots can be used in a number of relevant application areas where a better understanding of a gas distribution is needed, such as environmental monitoring and safety and security related fields. In this paper, we present a method to integrate the classification of odours together with gas distribution mapping. The resulting odour map is then correlated with the spatial information collected from a laser range scanner to form a combined map. Experiments are performed using a mobile robot in large and unmodified indoor and outdoor environments. Multiple odour sources are used and are identified using only transient information from the gas sensor response. The resulting multi-level map can be used as a representation of the collected odour data.
Originalsprache | Englisch |
---|---|
Seiten (von - bis) | 311-319 |
Seitenumfang | 9 |
Fachzeitschrift | Robotica |
Jahrgang | 27 |
Ausgabenummer | 2 |
DOIs | |
Publikationsstatus | Veröffentlicht - März 2009 |
Extern publiziert | Ja |