Mobile robot navigation using vision and olfaction to search for a gas/odor source
Mobile robot navigation using vision and olfaction to search for a gas/odor source
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DOI：
10.1007/s10514-006-7100-5
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发表时间：
2006-06-01
影响因子：
3.5
通讯作者：
Moriizumi, Toyosaka
中科院分区：
文献类型：
--
作者：
Ishida, Hiroshi;Tanaka, Hidenao;Moriizumi, Toyosaka
本文提出了一种使用自主移动机器人搜索气体/气味源的新方法。该机器人配备了CMOS相机、气体传感器和气流传感器。当没有气体存在时，机器人在相机图像中寻找显著物体。机器人靠近视野中发现的任何物体，并用气体传感器检查它，看该物体是否释放气体。另一方面，如果机器人在区域内四处游荡时检测到气体存在，它会转向携带气体的风向。然后机器人在该方向寻找任何可见物体。这些导航策略在基于行为的包容架构框架下在机器人中得以实现。文中给出了在室内环境中搜索泄漏瓶子的实验结果，以证明导航策略的有效性。
This paper presents a new approach to search for a gas/odor source using an autonomous mobile robot. The robot is equipped with a CMOS camera, gas sensors, and airflow sensors. When no gas is present, the robot looks for a salient object in the camera image. The robot approaches any object found in the field of view, and checks it with the gas sensors to see if the object is releasing gas. On the other hand, if the robot detects the presence of gas while wandering around the area, it turns toward the direction of the wind that carries the gas. The robot then looks for any visible object in that direction. These navigation strategies are implemented into the robot under the framework of the behavior-based subsumption architecture. Experimental results on the search for a leaking bottle in an indoor environment are presented to demonstrate the validity of the navigation strategies.