2026-05-31T10:32:25Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/145982026-02-03T11:32:57Zcom_10630_2254col_10630_37953

Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis Góngora González, Andrés González-Monroy, Javier González-Jiménez, Antonio Javier Robots autónomos 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. 2017-10-06T12:22:32Z 2017-10-06T12:22:32Z 2017 2017 journal article European Conference on Mobile Robotics (ECMR), 2017 http://hdl.handle.net/10630/14598 eng European Conference on Mobile Robotics (ECMR) Paris, France September, 2017 open access by-nc-nd