複数ロボットによる三次元ガス源の自律探索システムの開発

抄録

Autonomous detection for gas leaks in chemical plants is significantly important. In this work, we address this issue by using multiples robots: ground robots and drones, which have complementary advantages and disadvantages in gas sensing. Then, we develop a stepwise search system from plane to height, taking into account the operating time of the robot and its impact on airflow. In the first step, we use a ground robot to perform two-dimensional location for gas source on the ground, which is followed by a height search strategy for gas sources by a drone as the second step. The proposed system was also verified in an actual indoor environment for the case of an ethanol gas source fixed at a height to locate the gas source.