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Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-1662-0960
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, 17013581Conference paper, Published paper (Refereed)
Abstract [en]

Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2017. 17013581
National Category
Computer Science Robotics
Identifiers
URN: urn:nbn:se:oru:diva-60633DOI: 10.1109/ISOEN.2017.7968874ISBN: 978-1-5090-2392-9 (electronic)ISBN: 978-1-5090-2393-6 (print)OAI: oai:DiVA.org:oru-60633DiVA: diva2:1138648
Conference
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal, QC, Canada
Available from: 2017-09-06 Created: 2017-09-06 Last updated: 2017-09-11Bibliographically approved

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Lilienthal, Achim J.

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
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