RT Journal Article
T1 Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis
A1 Góngora González, Andrés
A1 González-Monroy, Javier
A1 González-Jiménez, Antonio Javier
K1 Robots autónomos
AB 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 volatileemission sources with a mobile robot that has improved sensingcapabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses onwhich search strategy is the most suitable for this teleoperated approach. Four different search strategies, namely chemotaxis,anemotaxis, gas-mapping, and visual-aided search, are analyzedand evaluated according to a set of proposed indicators (e.g. accuracy,efficiency, success rate, etc.) to determine the most suitableone 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.
YR 2017
FD 2017
LK http://hdl.handle.net/10630/14598
UL http://hdl.handle.net/10630/14598
LA eng
NO European Conference on Mobile Robotics (ECMR), 2017
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026