A Comparative study of robotic gas source localization algorithms in industrial environments

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• 作者：Erik Persson^* ; ^{erik.persson@no.abb.com" class="auth_mail" title="E-mail the corresponding author} ; David A. Anisi^* ; ^{david.anisi@no.abb.com" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Industrial robots ; Gas source localization ; Autonomous mobile robots ; Control algorithms
• 刊名：IFAC-PapersOnLine
• 出版年：2011
• 出版时间：January 2011
• 年：2011
• 卷：44
• 期：1
• 页码：899-904
• 全文大小：934 K

文摘

Gas source localization is the concept of locating the source of a chemical substance spreading in the environment. Within the oil, gas and petrochemical industry, there is an extreme focus on health, safety and environment (HSE) issues. Hence, being able to locate the source of a gas leakage in an accurate, reliable and quick manner, is of greatest interest to the industry. Although robotic gas source localization has been an active field of research for over fifteen years, large scale real world applications are still lacking. Towards closing this gap, this work presents the results of a comparative study between five different algorithms for robotic gas source localization. The first three are taken from the literature, while the last two are novel modifications and combinations of them. In addition to describing these algorithms, this paper presents the details of the conducted comparative study and the the results thereof.