Gas source localization via behaviour based robot and weighted arithmetic mean
This research is concerned with the localization of gas source in a dynamic indoor environment problem using a single mobile robot system. Since the environment is unknown to the robot, an intelligent algorithm is required to enable the robot to traverse through the environment without any interrup...
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my-unimap-782162023-03-23T07:41:04Z Gas source localization via behaviour based robot and weighted arithmetic mean Latifah Munirah, Kamarudin, Dr. This research is concerned with the localization of gas source in a dynamic indoor environment problem using a single mobile robot system. Since the environment is unknown to the robot, an intelligent algorithm is required to enable the robot to traverse through the environment without any interruption from obstacles. All experiments were done on an experimental testbed consisting of a large gas sensor array (LGSA) to monitor real-time gas concentration within the testbed. The measurements from the LGSA were taken as the ground truth and were useful as it can be compared to the measurements taken from the gas sensors on the mobile robot. A pattern tracking system was also utilized to record the robot's odometry. Initially, two preliminary experiments were conducted to better understand the conditions within the experimental testbed and the gas sensor's performance within the environment when the robot is moving at different speeds. From the preliminary experiments, we can confirm that the conditions within the testbed are indeed dynamic and gas sensor's performance differs when the mobile robot is moving at different speeds. We then proceed to implement two algorithms (i.e Zig-Zag and Braitenberg) to test the robot's performance in traversing through the experimental testbed while taking gas sensor measurements. The Braitenberg algorithm was separated into two variants (i.e Repel and Attract) which then were implemented with the mobile robot. Universiti Malaysia Perlis (UniMAP) Thesis en http://dspace.unimap.edu.my:80/xmlui/handle/123456789/78216 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/3/license.txt 8a4605be74aa9ea9d79846c1fba20a33 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/1/Page%201-24.pdf 68509f8b1c92134632163443da876859 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/2/Full%20text.pdf 9efd0be95abc99d8bba13a7231733f58 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/4/Ahmad%20Shakaff.pdf e6cee0df5e846e0362dc7e5bbe20eb92 Universiti Malaysia Perlis (UniMAP) Mobile robots Artificial intelligence -- Computer programs Robotics Large gas sensor array (LGSA) School of Computer and Communication Engineering |
| institution |
Universiti Malaysia Perlis |
| collection |
UniMAP Institutional Repository |
| language |
English |
| advisor |
Latifah Munirah, Kamarudin, Dr. |
| topic |
Mobile robots Artificial intelligence -- Computer programs Robotics Large gas sensor array (LGSA) |
| spellingShingle |
Mobile robots Artificial intelligence -- Computer programs Robotics Large gas sensor array (LGSA) Gas source localization via behaviour based robot and weighted arithmetic mean |
| description |
This research is concerned with the localization of gas source in a dynamic indoor environment problem using a single mobile robot system. Since the environment is unknown to the robot, an intelligent algorithm is required to enable the robot to traverse
through the environment without any interruption from obstacles. All experiments were done on an experimental testbed consisting of a large gas sensor array (LGSA) to monitor real-time gas concentration within the testbed. The measurements from the LGSA were taken as the ground truth and were useful as it can be compared to the measurements taken
from the gas sensors on the mobile robot. A pattern tracking system was also utilized to
record the robot's odometry. Initially, two preliminary experiments were conducted to
better understand the conditions within the experimental testbed and the gas sensor's
performance within the environment when the robot is moving at different speeds. From the
preliminary experiments, we can confirm that the conditions within the testbed are indeed
dynamic and gas sensor's performance differs when the mobile robot is moving at different
speeds. We then proceed to implement two algorithms (i.e Zig-Zag and Braitenberg) to test
the robot's performance in traversing through the experimental testbed while taking gas
sensor measurements. The Braitenberg algorithm was separated into two variants (i.e Repel
and Attract) which then were implemented with the mobile robot. |
| format |
Thesis |
| title |
Gas source localization via behaviour based robot and weighted arithmetic mean |
| title_short |
Gas source localization via behaviour based robot and weighted arithmetic mean |
| title_full |
Gas source localization via behaviour based robot and weighted arithmetic mean |
| title_fullStr |
Gas source localization via behaviour based robot and weighted arithmetic mean |
| title_full_unstemmed |
Gas source localization via behaviour based robot and weighted arithmetic mean |
| title_sort |
gas source localization via behaviour based robot and weighted arithmetic mean |
| granting_institution |
Universiti Malaysia Perlis (UniMAP) |
| granting_department |
School of Computer and Communication Engineering |
| url |
http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/1/Page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/2/Full%20text.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/78216/4/Ahmad%20Shakaff.pdf |
| _version_ |
1776104243306954752 |