Gas distribution mapping of multiple odour sources using a mobile robot

Amy Loutfi, Silvia Coradeschi, Achim J. Lilienthal, Javier Gonzalez

Publikation: Beitrag in FachzeitschriftArtikelBegutachtung

69 Zitate (Scopus)

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.

OriginalspracheEnglisch
Seiten (von - bis)311-319
Seitenumfang9
FachzeitschriftRobotica
Jahrgang27
Ausgabenummer2
DOIs
PublikationsstatusVeröffentlicht - März 2009
Extern publiziertJa

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