Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor

Muhammad Arain, Marco Trincavelli, Marcello Cirillo, Erik Schaffernicht, Achim Lilienthal
2015 Sensors  
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the
more » ... ility of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.
doi:10.3390/s150306845 pmid:25803707 pmcid:PMC4435115 fatcat:z5joculvq5e5zeecw3itcncxli