Optimal Gas Leak Localization and Detection using an Autonomous Mobile Robot

Abstract

This paper investigates a problem of localizing a gas leak source based on the Hamiltonian approach. In general, it is difficult to accurately localize a gas leak source due to the fact that a sensor can only measure local information. To detect the location of a gas leak source using an autonomous mobile robot, an optimization problem is formulated, and the optimal control input is derived based on the Hamiltonian. This optimal control is calculated in a receding-horizon manner after each local measurement from the onboard sensor. The proposed method guarantees the optimality of the solution, and a simulation result is provided to validate the proposed method.