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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Fujun He Yingfei Sun Xiaolei Liu Zhijiang Du |
| Copyright Year | 2009 |
| Description | Author affiliation: State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin, Heilongjiang Province 150001, China (Zhijiang Du) || Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing, Heilongjiang 163318, China (Fujun He; Yingfei Sun; Xiaolei Liu) |
| Abstract | The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching. |
| Starting Page | 237 |
| Ending Page | 242 |
| File Size | 1395870 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424447947 |
| DOI | 10.1109/ICAL.2009.5262922 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Autonomous robot Danger source searching Robot vision systems Indoor environments Sensor phenomena and characterization Indoor environment Mobile robots Helium Robotics and automation Fuzzy logic Simulation Robot sensing systems Gas detectors Fuzzy systems |
| Content Type | Text |
| Resource Type | Article |
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