Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-26T07:57:02.711Z Has data issue: false hasContentIssue false
  • English
  • Français

Gas distribution mapping of multiple odour sources using a mobile robot

Published online by Cambridge University Press:  01 March 2009

Amy Loutfi ,
Silvia Coradeschi ,
Achim J. Lilienthal  and
Javier Gonzalez
Amy Loutfi*
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Silvia Coradeschi
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Achim J. Lilienthal
Affiliation:
The Center for Applied Autonomous Sensor Systems, Örebro University, 701-82 Sweden.
Javier Gonzalez
Affiliation:
Department of System Engineering and Automation, University of Malaga, 29071 Malaga, Spain.
*
*Corresponding author. E-mail: Amy.loutfi@tech.oru.se
Get access Rights & Permissions [Opens in a new window]

Summary

Mobile olfactory robots can be used in a number of relevant application areas where a better understanding of a gas distribution is needed, such as environmental monitoring and safety and security related fields. In this paper, we present a method to integrate the classification of odours together with gas distribution mapping. The resulting odour map is then correlated with the spatial information collected from a laser range scanner to form a combined map. Experiments are performed using a mobile robot in large and unmodified indoor and outdoor environments. Multiple odour sources are used and are identified using only transient information from the gas sensor response. The resulting multi-level map can be used as a representation of the collected odour data.

Keywords

Mobile robotsTeleoperationMobile olfactionElectronic noseGas mapping
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 311 - 319
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Albert, K. J. and Lewis, N. S., “Cross reactive chemical sensor arrays,” Chem. Rev. 100, 2595–2626 (2000).CrossRefGoogle ScholarPubMed
2.Badia, S., Bernardet, U., Guanella, A., Pyk, P. and Verschure, P., “A biologically based chemo-sensing uav for humanitarian demining,” Int. J. Adv. Rob. Syst. 4 (2), 187–198 (2007).Google Scholar
3.Distante, C., Leo, M., Siciliano, P. and Persaud, K., “On the study of feature extraction methods for an electronic nose,” Sens. Actuators B 87, 274–288 (2002).CrossRefGoogle Scholar
4.Distante, C., Leo, M., Siciliano, P. and Persaud, K., “Olfactory sensory system for odour-plume tracking and localization,” Sensors 1, 418–423 (2003).Google Scholar
5.Duckett, T., Axelsson, M. and Saffiotti, A., “Learning to Locate an Odour Source With a Mobile Robot,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'2001), Seoul, Korea (2001).Google Scholar
6.Figaro Gas Sensor: Technical Reference, 1992. http://www.figaro.com.Google Scholar
7.Gutierrez-Osuna, R., Gutierrez-Galvez, A. and Powar, N. U., “Transient response analysis for temperature modulated chemoresistors,” Sens. Actuators B: Chem. B 93 (1–3), 57–66 (2003).CrossRefGoogle Scholar
8.Hayes, A. T., Martinoli, A. and Goodman, R. M., “Distributed odor source localization,” IEEE Sens. 2 (3)260–273 (2002).CrossRefGoogle Scholar
9.Ishida, H., Kobayashi, A., Nakamoto, T. and Moriizumi, T., “Three-dimensional odor compass,” IEEE Trans. Rob. Automat. 15 (2), 251–257 (Apr. 1999).CrossRefGoogle Scholar
10.Ishida, H., Nakamoto, T. and Moriizumi, T., “Remote sensing of gas/odor source location and concentration distribution using mobile system,” Sens. Actuators B 49, 52–57 (1998).CrossRefGoogle Scholar
11.Ishida, H., Yamanaka, T., Kushida, N., Nakamoto, T. and Moriizumi, T., “Study of real-time visualization of gas/odor flow images using gas sensor array,” Sens. Actuators B 65, 14–16 (2000).CrossRefGoogle Scholar
12.Lilienthal, A. and Duckett, T., “Creating Gas Concentration Gridmaps With a Mobile Robot,” Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE Press, Las Vegas, USA (2003).Google Scholar
13.Lilienthal, A., Loutfi, A., Blanco, J., Galindo, C. and Gonzalez, J., “A Rao-Blackwellisation Approach to GDM-SLAM - Integrating SLAM and Gas Distribution Mapping,” Proceedings of the 3rd European Conference on Mobile Robots (ECMR), Freiburg, Germany (2007), pp. 126–131.Google Scholar
14.Lilienthal, A. J. and Duckett, T., “Creating Gas Concentration Gridmaps with a Mobile Robot,” Proceedings of IEEE IROS, Las Vegas, USA (2003), pp. 118–123.Google Scholar
15.Lilienthal, A. J. and Duckett, T., “Building gas concentration gridmaps with a mobile robot,” Rob. Autonom. Syst. 48 (1), 3–16 (Aug. 2004).CrossRefGoogle Scholar
16.Lilienthal, A. J., Loutfi, A. and Duckett, T., “Airborne chemical sensing with mobile robots,” Sensors 6, 1616–1678 (Oct. 2006). Available at http://www.mdpi.org/sensors/papers/s6111616.pdfCrossRefGoogle Scholar
17.Lilienthal, A. J., Ulmer, H., Frohlich, H., Werner, F. and Zell, A., “Learning to Detect Proximity to a Gas Source with a Mobile Robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, (Sep. 28–Oct. 2, 2004) pp. 1444–1449.Google Scholar
18.Loutfi, A., Coradeschi, S., Karlsson, L. and Broxvall, M., “Object recognition: A new application for smelling robots,” Rob. Autonom. Syst. 52, 272–289 (2005).CrossRefGoogle Scholar
19.Marques, L., Martins, A. and Almeida, A., “Environmental monitoring with mobile robots,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada (2005) pp. 3624–3629.Google Scholar
20.Marques, L., Nunes, U. and Almeida, A. de, “Olfaction-based mobile robot navigation,” Thin Solid Films 418, 51–58 (2002).CrossRefGoogle Scholar
21.Roberts, P. J. W. and Webster, D. R., “Turbulent Diffusion,” In: Environmental Fluid Mechanics–Theories and Application (Shen, H., Cheng, A., Wang, K.-H., Teng, M. and Liu, C., eds.) (ASCE Press, Reston, Virginia, 2002).Google Scholar
22.Rochel, O., Martinez, D., Hugues, E. and Sarry, F., “Stereo-Olfaction With a Sniffing Neuromorphic Robot Using Spiking Neurons,” 16th European Conference on Solid-State Transducers–EUROSENSORS, Prague, Czech Republic (Sep. 2002). Available at http://www.loria.fr/publications/2002/A02-R-139/A02-R-139.psGoogle Scholar
23.Russell, R., Thiel, D. and Mackay-Sim, A., “Sensing Odour Trails for Mobile Robot Navigation,” IEEE International Conference on Robotics and Automation (ICRA 1994), San Diego, USA (1994), pp. 2672–2677.CrossRefGoogle Scholar
24.Wandel, M. R., Lilienthal, A. J., Duckett, T., Weimar, U. and Zell, A., “Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot,” Proceeding of IEEE ICAR, Coimbra, Portugal (2003), pp. 507–512.Google Scholar