Gas Sensing Mobile Robot: A Review
Keywords:
Bio-inspired Algorithm, Gas Sensor, Mobile Robot, Gas Distribution Mapping, Gas Source Localization,Abstract
Mobile robot applications are required in various hazardous fields to reduce human casualties. One of the most demanding applications is gas sensing mobile robot. Since the hazardous chemical compound is undetectable by humans, autonomous mobile gas sensors are needed. Over the past few decades, various attempts to incorporate gas sensor on mobile robots are reported. Gas source localisation and gas distribution mapping are the two mainly focused scope of research. This paper presents the earliest works and recent development in gas sensing mobile robots.References
A. P. Jones, “Indoor air quality and health,” in Atmospheric Environment, vol. 33, 1999, pp. 4535–4564.
J. Y. Kim, C. H. Chu, and S. M. Shin, “ISSAQ: An integrated sensing systems for real-time indoor air quality monitoring,” IEEE Sensors Journal, vol. 14, pp. 4230–4244, Dec. 2014.
A. Fort, M. B. Serrano-Santos, R. Spinicci, N. Ulivieri, and V. Vignoli, “Electronic nose based on metal oxide gas sensors: the problem of selectivity enhancement,” Instrumentation and Measurement Technology Conference, 2004. IMTC 04. Proceedings of the 21st IEEE, vol. 1, pp. 599–604, 2004.
K. Kon, H. Igarashi, F. Matsuno, N. Sato, and T. Kamegawa, “Development of a practical mobile robot platform for NBC disasters and its field test,” Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium, pp. 1-6, 2012.
E. Llobet, R. Ionescu, S. Al-Khalifa, J. Brezmes, X. Vilanova, X. Correig, et al. “Multicomponent gas mixture analysis using a single tin oxide sensor and dynamic pattern recognition,” Sensors Journal, IEEE, vol. 1, pp. 207-213, 2001.
A. Modi, N. Koratkar, E. Lass, B. Wei, and P. M. Ajayan, “Miniaturized gas ionization sensors using carbon nanotubes,” Nature, 424(6945), pp. 171-174, 2003.
P. Krebs, and A. Grisel, “A low power integrated catalytic gas sensor,” Sensors and Actuators B: Chemical, vol. 13, pp. 155-158, 1993.
R. Frodl, and T. Tille, “A High-Precision NDIR CO2 Gas Sensor for Automotive Applications,” Sensors Journal, IEEE, vol. 6, pp. 1697- 1705, 2006.
G. Kowadlo, and R. A. Russell, “Robot odor localization: a taxonomy and survey,” The International Journal of Robotics Research, vol. 27, pp. 869-894, 2008.
L. Marques, U. Nunes, and A. T. de Almeida, “Olfaction-based mobile robot navigation,” Thin solid films, vol. 418, pp. 51-58, 2002.
Y. Zou, D. Luo, and W. Chen, “Swarm robotic odor source localization using ant colony algorithm,” Control and Automation, 2009. ICCA 2009. IEEE International Conference, pp. 792-796, 2009.
A. T. Hayes, A. Martinoli, and R. M. Goodman, “Distributed odor source localization,” Sensors Journal, IEEE, vol. 2, pp. 260-271, 2002.
A. Lilienthal, and T. Duckett, “Experimental analysis of gas-sensitive Braitenberg vehicles,” Advanced Robotics, vol. 18, pp. 817-834, 2004.
R. A. Russell, A. Bab-Hadiashar, R. L. Shepherd, and G. G. Wallace, “A comparison of reactive robot chemotaxis algorithms,” Robotics and Autonomous Systems, vol. 45, pp. 83-97, 2003.
O. Holland, and C. Melhuish, “Some adaptive movements of animats with single symmetrical sensors,” From Animals to Animats, vol. 4, pp. 55-64, 1996.
C. Lytridis, G. S. Virk, Y. Rebour, and E. E. Kadar, “Odor-based navigational strategies for mobile agents,” Adaptive Behavior, vol. 9, pp. 171-187, 2001.
L. Marques, and A. T. De Almeida, “Finding odours across large search spaces: A particle swarm-based approach,” Climbing and Walking Robots, pp. 419-426, 2005.
L. Marques, U. Nunes, and A. T. de Almeida, “Particle swarm-based olfactory guided search,” Autonomous Robots, vol. 20, pp. 277-287, 2006.
S. B. Akat, V. Gazi, and L. Marques, “Asynchronous particle swarm optimization-based search with a multi-robot system: simulation and implementation on a real robotic system,” Turkish Journal of Electrical Engineering & Computer Sciences, vol. 18, pp. 749-764, 2010.
G. Ferri, E. Caselli, V. Mattoli, A. Mondini, B. Mazzolai, and P. Dario, “Explorative particle swarm optimization method for gas/odor source localization in an indoor environment with no strong airflow,” Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference, pp. 841-846, 2007.
Y. Zhang, J. Zhang, G. Hao, and W. Zhang, “Localizing odor source with multi-robot based on hybrid particle swarm optimization,” Natural Computation (ICNC), 2015 11th International Conference on, pp. 902-906, 2015.
M. A. Hossain, and I. Ferdous, “Autonomous robot path planning in dynamic environment using a new optimization technique inspired by bacterial foraging technique,” Robotics and Autonomous Systems, vol. 64, pp. 137-141, 2015.
H. Ishida, K. I. Suetsugu, T. Nakamoto, and T. Moriizumi, “Study of autonomous mobile sensing system for localization of odor source using gas sensors and anemometric sensors,” Sensors and Actuators A: Physical, vol. 45, pp. 153-157, 1994.
H. Ishida, Y. Kagawa, T. Nakamoto, and T. Moriizumi, “Odor-source localization in the clean room by an autonomous mobile sensing system,” Sensors and Actuators B: Chemical, vol.33, pp. 115-121, 1996.
L. Marques, N. Almeida, and A. T. De Almeida, “Olfactory sensory system for odour-plume tracking and localization,” Sensors, 2003. Proceedings of IEEE, vol. 1, pp. 418-423, 2003.
Y. Kuwana, and I. Shimoyama, “A pheromone-guided mobile robot that behaves like a silkworm moth with living antennae as pheromone sensors,” The international Journal of Robotics research, vol. 17, pp. 924-933, 1998.
A. Lilienthal, D. Reimann, and A. Zell, “Gas source tracing with a mobile robot using an adapted moth strategy,” Autonome Mobile Systeme 2003, pp. 150-160, 2003.
T. Lochmatter, X. Raemy, L. Matthey, S. Indra, and A. Martinoli, “A comparison of casting and spiraling algorithms for odor source localization in laminar flow,” Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, pp. 1138-1143, 2008.
T. Lochmatter, and A. Martinoli, “Theoretical analysis of three bioinspired plume tracking algorithms,” Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp. 2661-2668, 2009.
L. Marques, N. Almeida, and A. T. De Almeida, “Olfactory sensory system for odour-plume tracking and localization,” Sensors, 2003. Proceedings of IEEE, vol. 1, pp. 418-423, 2003.
A. T. Hayes, A. Martinoli, and R. M. Goodman, “Swarm robotic odor localization,” Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, vol. 2, pp. 1073-1078, 2001.
A. T. Hayes, A. Martinoli, and R. M. Goodman, “Swarm robotic odor localization: Off-line optimization and validation with real robots,” Robotica, vol. 21, pp. 427-441, 2003.
M. Vuka, E. Schaffernicht, M. Schmuker, V. H. Bennetts, F. Amigoni, and A. J. Lilienthal, “Exploration and localization of a gas source with MOX gas sensors on a mobile robot—A Gaussian regression bout amplitude approach,” Olfaction and Electronic Nose (ISOEN), pp. 1-3, 2017.
A. Lilienthal, and T. Duckett, “Building gas concentration gridmaps with a mobile robot,” Robotics and Autonomous Systems, vol. 48, pp. 3-16, 2004.
A. Loutfi, S. Coradeschi, A. J. Lilienthal, and J. Gonzalez, “Gas distribution mapping of multiple odour sources using a mobile robot,” Robotica, vol. 27, pp. 311-319, 2009.
M. Reggente, and A. J. Lilienthal, “Three‐Dimensional Statistical Gas Distribution Mapping in an Uncontrolled Indoor Environment,” AIP Conference Proceedings, vol. 1137, pp. 109-112, 2009.
A. J. Lilienthal, A. Loutfi, J. L. Blanco, C. Galindo, and J. Gonzalez, “A Rao-Blackwellisation Approach to GDM-SLAM: Integrating SLAM and Gas Distribution Mapping (GDM),” EMCR, 2007.
C. Stachniss, C. Plagemann, A. J. Lilienthal, and W. Burgard, “Gas Distribution Modeling using Sparse Gaussian Process Mixture Models,” Robotics: Science and Systems, vol. 3, 2008.
A. J. Lilienthal, M. Reggente, M. Trincavelli, J. L. Blanco, and J. Gonzalez, “A statistical approach to gas distribution modelling with mobile robots-the kernel dm+v algorithm,” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp. 570-576, 2009.
J. L. Blanco, J. G. Monroy, A. Lilienthal, and J. Gonzalez-Jimenez, “A kalman filter based approach to probabilistic gas distribution mapping,” Proceedings of the 28th Annual ACM Symposium on Applied Computing, pp. 217-222, 2013.
M. Reggente, and A. J. Lilienthal, “Using local wind information for gas distribution mapping in outdoor environments with a mobile robot,” Sensors, 2009 IEEE, pp. 1715-1720, 2009.
M. Reggente, and A. J. Lilienthal, “The 3D-Kernel DM+ V/W algorithm: Using wind information in three dimensional gas distribution modelling with a mobile robot,” Sensors, 2010 IEEE, pp. 999-1004, 2010.
J. G. Monroy, J. L. Blanco, and J. Gonzalez-Jimenez, “Time-variant gas distribution mapping with obstacle information,” Autonomous Robots, vol. 40, pp. 1-16, 2016.
FIGARO, “TGS 2600 – for the detection of Air Contaminants,” TGS 2600 datasheet, Jan. 2005.
Downloads
Published
How to Cite
Issue
Section
License
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.