Determination of gas source existence in a specified area by active airflow generator robots
Determination of gas source existence in a specified area by active airflow generator robots
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DOI：
10.1109/icsens.2015.7370339
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发表时间：
2015-11
期刊：
影响因子：
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通讯作者：
Takashi Yoshida;Ryuichi Takemura;H. Matsukura;H. Ishida
中科院分区：
文献类型：
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作者：
Takashi Yoshida;Ryuichi Takemura;H. Matsukura;H. Ishida
提出了一种机器人气源定位的新方法。为了开发能够自主搜索气源的机器人，人们进行了大量的研究工作。据报道，气源定位的成功演示主要是在简单环境中进行的实验，例如在风洞中的均匀单向气流场中。然而，在真实环境中复杂气流场中定位气源仍然是一项具有挑战性的任务。因此，我们建议部署多个配备风扇的机器人，将复杂的气流场变成简单的气流场。配备两个风扇的气流发生器机器人原型已经开发出来。在所提出的方法中，搜索区域被分为多个子区域，每个子区域的面积为几平方米。然后，通过测量沿每个分区周边的气体浓度，依次检查每个分区是否存在气源。实验结果证明了该方法的可行性。
A new method for robotic gas-source localization is proposed. Extensive research efforts have been made to develop robots that can autonomously search for gas sources. Successful demonstrations on gas source localization have been reported mostly for experiments conducted in simple environments, e.g., in a uniform unidirectional airflow field in a wind tunnel. However, to locate a gas source in a complicated airflow field in a real environment is still a challenging task. Therefore, we propose to deploy multiple robots equipped with fans to change the complicated airflow field into simple one. A prototype airflow generator robot equipped with two fans has been developed. In the proposed method, the search area is divided into subareas, each of which measures a few meters square. Then, the existence of a gas source in each subarea is checked in turn by measuring the gas concentration along the perimeter of each subarea. Experimental results are presented to show the feasibility of the proposed method.