4201 ガスセンサと風速計を搭載したロボットによるガス源探索アルゴリズムの研究(S68-1 機構の開発とシミュレーション(1),S68 機構の開発とシミュレーション)

Abstract

This paper reports on a new method to search for a gas source. In the previous work on gas-source localization, robotic or human searchers are navigated using gas sensors and anemometers in order to find the gas-source location. Instead, the proposed method provides a map that shows distribution of the certainty of the gas-source location. In the proposed method, the area under consideration is meshed into a two dimensional grid of cells. At each observation of the gas concentration, the certainty of having a gas source with a specific strength is calculated for each cell using the measured airflow direction and a turbulent diffusion model of gas distribution. The results are aggregated after repeating the observations at multiple points. The gas source is estimated to be in the cell for which high certainty values are consistently obtained. Successful demonstration on estimating the gas-source location in an indoor environment is presented to show the validity of the proposed method.