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Gas distribution mapping of multiple odour sources using a mobile robot

Published online by Cambridge University Press:  01 March 2009

Amy Loutfi ,
Silvia Coradeschi ,
Achim J. Lilienthal  and
Javier Gonzalez
Amy Loutfi*
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Silvia Coradeschi
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Achim J. Lilienthal
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Javier Gonzalez
Affiliation:
Department of System Engineering and Automation, University of Malaga, 29071 Malaga, Spain.
*
*Corresponding author. E-mail: Amy.loutfi@tech.oru.se
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Summary

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.

Keywords

Mobile robotsTeleoperationMobile olfactionElectronic noseGas mapping
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 311 - 319
Copyright
Copyright © Cambridge University Press 2008

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