2812 ポテンシャル法を用いた視嗅覚融合ガス源探知ロボットの誘導(S59 機構の開発とシミュレーション)

概要

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A new approach to search for a gas source using an autonomous mobile robot is presented. The robot is equipped with a CMOS camera and gas sensors. On the detection of any suspicious object or place in the field of view, the robot approaches it and checks its smell with the gas sensors. Path planning is performed using a potential field method. Unlike the classical techniques used for obstacle avoidance, a Mexican-hat shaped potential field is formed on a map around the visually detected object. The resultant potential field thus has not only a hill at the object location but also valleys around it. By navigating the robot in the descending direction on the potential field, the robot approaches the object while keeping a certain clearance to avoid collision to the object. The robot then moves along the perimeter of the object to sniff out from which part of the object the gas is leaking. The experimental result on search for a leaking valve in indoor environment is presented to demonstrate the validity of the proposed method.
一般社団法人日本機械学会の論文
2005-09-18