Achim Lilienthal and Tom Duckett
Building Gas Concentration Gridmaps with a Mobile Robot
Robotics and Autonomous Systems, Volume 48, Issue 1, 31 August 2004, pp. 3-16
Abstract
This paper addresses the problem of mapping the structure of a gas distribution
by creating concentration gridmaps from the data collected by a mobile robot
equipped with gas sensors.
By contrast to metric gridmaps extracted from sonar or laser range scans,
a single measurement from a gas sensor
provides information about a comparatively small area.
To overcome this problem,
a mapping technique is introduced
that uses a Gaussian weighting function to model the decreasing likelihood
that a particular reading represents the true concentration
with respect to the distance from the point of measurement.
This method is evaluated in terms of its suitability
regarding the slow response and recovery of the gas sensors, and
experimental comparisons of different exploration strategies are presented.
The stability of the mapped structures and the capability
to use concentration gridmaps to locate a gas source are also discussed.
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Bibtex
@INPROCEEDINGS{Lilienthal:RAS2004,
AUTHOR = "Achim J. Lilienthal and Tom Duckett",
TITLE = {{Building Gas Concentration Gridmaps with a Mobile Robot}},
JOURNAL = {{Robotics and Autonomous Systems}},
YEAR = "2004",
VOLUME = "48",
NUMBER = "1",
PAGES = "3--16",
MONTH_ = "August 31"
}