Next Article in Journal
HEALPix-IA: A Global Registration Algorithm for Initial Alignment
Next Article in Special Issue
Smelling Nano Aerial Vehicle for Gas Source Localization and Mapping
Previous Article in Journal
Damage Quantification with Embedded Piezoelectric Aggregates Based on Wavelet Packet Energy Analysis
Previous Article in Special Issue
A Wind Estimation Method with an Unmanned Rotorcraft for Environmental Monitoring Tasks
Article Menu
Issue 2 (January-2) cover image

Export Article

Open AccessArticle
Sensors 2019, 19(2), 426; https://doi.org/10.3390/s19020426

Chemical Source Searching by Controlling a Wheeled Mobile Robot to Follow an Online Planned Route in Outdoor Field Environments

1
Tianjin Key Laboratory of Information Sensing and Intelligent Control, School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
2
Institute of Robotics and Autonomous Systems, Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
3
Logistics Engineering College, Shanghai Marinetime University, Shanghai 201306, China
*
Author to whom correspondence should be addressed.
This work is an extended version of the conference paper published in the IEEE International Conference on Robotics and Biomimetics 2009 entitled “An Estimation-based Plume Tracing Method in Time-variant Airflow-field via Mobile Robot” and the conference paper published in Chinese Control Conference 2014 entitled “Odor-source Searching using a Mobile Robot in Time-variant Airflow Environments with Obstacles”.
Received: 13 December 2018 / Revised: 11 January 2019 / Accepted: 17 January 2019 / Published: 21 January 2019
  |  
PDF [5139 KB, uploaded 21 January 2019]
  |     |  

Abstract

In this paper, we present an estimation-based route planning (ERP) method for chemical source searching using a wheeled mobile robot and validate its effectiveness with outdoor field experiments. The ERP method plans a dynamic route for the robot to follow to search for a chemical source according to time-varying wind and an estimated chemical-patch path (C-PP), where C-PP is the historical trajectory of a chemical patch detected by the robot, and normally different from the chemical plume formed by the spatial distribution of all chemical patches previously released from the source. Owing to the limitations of normal gas sensors and actuation capability of ground mobile robots, it is quite hard for a single robot to directly trace the intermittent and rapidly swinging chemical plume resulting from the frequent and random changes of wind speed and direction in outdoor field environments. In these circumstances, tracking the C-PP originating from the chemical source back could help the robot approach the source. The proposed ERP method was tested in two different outdoor fields using a wheeled mobile robot. Experimental results indicate that the robot adapts to the time-varying airflow condition, arriving at the chemical source with an average success rate and approaching effectiveness of about 90% and 0.4~0.6, respectively. View Full-Text
Keywords: wheeled mobile robot; chemical-source tracing; outdoor field environments; chemical-patch path (C-PP); search-route planning wheeled mobile robot; chemical-source tracing; outdoor field environments; chemical-patch path (C-PP); search-route planning
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Li, J.-G.; Cao, M.-L.; Meng, Q.-H. Chemical Source Searching by Controlling a Wheeled Mobile Robot to Follow an Online Planned Route in Outdoor Field Environments. Sensors 2019, 19, 426.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top