Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis
| Type of publication: | Inproceedings |
| Citation: | gongora_ecmr_2017 |
| Booktitle: | 2017 European Conference on Mobile Robots (ECMR) |
| Year: | 2017 |
| Month: | sep |
| Location: | Paris (France) |
| URL: | http://ieeexplore.ieee.org/doc... |
| DOI: | 10.1109/ECMR.2017.8098720 |
| Abstract: | Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has improved sensing capabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses on which search strategy is the most suitable for this teleoperated approach. Four different search strategies, namely chemotaxis, anemotaxis, gas-mapping, and visual-aided search, are analyzed and evaluated according to a set of proposed indicators (e.g. accuracy, efficiency, success rate, etc.) to determine the most suitable one for a human-teleoperated mobile robot. Experimental validation is carried out employing a large dataset composed of over 150 trials where volunteer operators had to locate a gas-leak in a virtual environment under various and realistic environmental conditions (i.e. different wind flow patterns and gas source locations). We report different findings, from which we highlight that, against intuition, visual-aided search is not always the best strategy, but depends on the environmental conditions and the operator's ability to understand how gas distributes. |
| Userfields: | img_url=http%3A%2F%2Fmapir.uma.es%2Fagongora%2Fimages%2Fpapers%2F2017-ecmr%2Fw4bpath2.png,rank_indexname=,rank_pos_in_category=,rank_num_in_category=,rank_cat_name=,impact_factor= |
| Keywords: | Indexes, mobile robots, Position measurement, Robot sensing systems, Visualization |
| Authors | |
| Added by: | [] |
| Total mark: | 0 |
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