Authors:
Luis Piardi
1
;
2
;
José Lima
3
;
1
and
André Schneider de Oliveira
2
Affiliations:
1
Research Center in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança, Campus de Santa Apolónia, 5300-253 Bragança, Portugal
;
2
Universidade Técnológica Federal do Paraná - UTFPR, Avenida Sete de Setembro 3165, 80230-901 Curitiba, Paraná, Brazil
;
3
INESC, Technology and Science, Porto, Portugal
Keyword(s):
Autonomous Mobile Robot, Gas Sources Detection, Avoidance Obstacle, Fuzzy Control.
Abstract:
The advancement of technology and techniques applied to robotics contributes to increasing the quality of life and safety of humanity. One of the most widespread applications of mobile robotics is related to monitoring indoor environments. However, due to factors such as the size of the environment impacting the monitoring response, battery autonomy, and autonomous navigation in environments with unknown obstacles, they are still significant challenges in the diffusion of mobile robotics in these areas. Strategy adopting multiple robots can overcome these challenges. This work presents an approach to use multi-robots in hazardous environments with gas leakage to perform spatial mapping of the gas concentration. Obstacles arranged in the environment are unknown to robots, then a fuzzy control approach is used to avoid the collision. As a result of this paper, spatial mapping of an indoor environment was carried out with multi-robots that reactively react to unknown obstacles consideri
ng a point gas leak with Gaussian dispersion.
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